WO2023108560A1 - 图像处理方法、装置、存储介质、电子后视镜系统和车辆 - Google Patents

图像处理方法、装置、存储介质、电子后视镜系统和车辆 Download PDF

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Publication number
WO2023108560A1
WO2023108560A1 PCT/CN2021/138884 CN2021138884W WO2023108560A1 WO 2023108560 A1 WO2023108560 A1 WO 2023108560A1 CN 2021138884 W CN2021138884 W CN 2021138884W WO 2023108560 A1 WO2023108560 A1 WO 2023108560A1
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WIPO (PCT)
Prior art keywords
image data
rearview mirror
electronic rearview
control unit
mirror control
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PCT/CN2021/138884
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English (en)
French (fr)
Inventor
陈秀波
Original Assignee
华为技术有限公司
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202180021631.XA priority Critical patent/CN116615357A/zh
Priority to PCT/CN2021/138884 priority patent/WO2023108560A1/zh
Publication of WO2023108560A1 publication Critical patent/WO2023108560A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/04—Rear-view mirror arrangements mounted inside vehicle

Definitions

  • the present application relates to the technical field of automobiles, in particular to an image processing method, device, storage medium, electronic rearview mirror system and vehicle.
  • Electronic rearview mirrors have begun to be installed on vehicles to provide image information around the vehicle and assist equipment to drive safely.
  • Electronic rearview mirror also known as camera monitor system (CMS)
  • CMS camera monitor system
  • CMS includes a camera and a display screen, which can collect real-time images through the camera and transmit them to the display screen for display.
  • CMS camera monitor system
  • the realization of the electronic rearview mirror function on the vehicle usually requires a dedicated electronic control unit (electronic control unit, ECU) to process the data collected by the camera and display it on the display screen.
  • ECU electronic control unit
  • the electronic rearview mirror is installed on the vehicle. Immature, often has slow startup and high latency, which affects user experience and large-scale applications. Therefore, there is an urgent need for a safer and more efficient image processing technology to improve the above problems and improve user experience, so that this technology can be widely used.
  • the embodiments of the present application provide an image processing method.
  • the method is used in an electronic rearview mirror control unit, and the method includes: acquiring the first image data collected by the one or more cameras from one or more cameras; sending the first image data to a domain controller DC; The first image data is processed to obtain processed image data, and the processed image data is output to a display device corresponding to the electronic rearview mirror control unit.
  • the image data collected by the camera is obtained through the electronic rearview mirror control unit, and the processed image data is output to the display device, so that the camera can be directly connected to the electronic rearview mirror control unit to realize the electronic rearview mirror control unit.
  • the mirror function does not need to depend on the domain controller.
  • the electronic rearview mirror function can also be implemented normally, ensuring the safety requirements of intelligent driving. In this case, the electronic rearview mirror starts quickly and delays Small, which improves the user experience.
  • the electronic rearview mirror and the domain controller can also share the image data collected by the camera, saving cost and space deployment.
  • the method further includes: receiving second image data sent by the domain controller, the second image data being the determined by the device according to the first image data and/or sensory data collected by one or more sensors; the second image data is processed to obtain processed image data, and the processed image The data is output to the display device.
  • the electronic rearview mirror control unit sends the first image data to the domain controller for processing to obtain the second image data, which can make the domain controller use its computing power to perform calculations to enhance the electronic rearview mirror The function further improves the safety and comfort during driving.
  • receiving the second image data sent by the domain controller includes: receiving the domain controller The second image data sent by the controller through the controller area network CAN interface or the Ethernet ETH interface.
  • the transmission efficiency of the electronic rearview mirror control unit when receiving the second image data can be made higher.
  • the field of view of the second image data corresponds to a vehicle driving scene.
  • the image information can be made more refined, and the driving experience is better.
  • the field of view of the second image data includes 360 degree panoramic environment.
  • the field of view of the image can be made larger, and the driving experience is better.
  • the method further includes : receiving indication information sent by the domain controller, where the indication information is determined by the domain controller according to the first image data and/or sensing data collected by one or more sensors; according to the The instruction information outputs corresponding display information to the display device.
  • the electronic rearview mirror control unit sends the first image data to the domain controller for processing, and obtains instruction information, so that the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror , to further improve the safety and comfort during driving.
  • the electronic rearview mirror control unit includes a deserializer and a processing unit, the deserializer is used to connect with the one or more cameras, acquire the first image data, and send the first image data to the The processing unit; the processing unit is used to process the first image data to obtain processed image data, and output the processed image data to the display device corresponding to the electronic rearview mirror control unit .
  • the electronic rearview mirror function can be realized independently.
  • sending the first image data to a domain controller DC includes: the deserializer sending the first image data to the domain controller.
  • a method for the electronic rearview mirror control unit to send the first image data to the domain controller can be implemented, so that the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve user experience .
  • sending the first image data to a domain controller DC includes: the processing unit sending The domain controller sends the first image data.
  • the electronic rearview mirror control unit sends the first image data to the domain controller
  • the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve the user's safety. experience.
  • sending the first image data to a domain controller DC includes: sending the first image data to the domain controller through a low-voltage differential signal LVDS interface.
  • the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve user experience.
  • the one or more cameras include a first camera for shooting the left rear of the vehicle, and a second camera for shooting the right rear of the vehicle.
  • a camera and a third camera for shooting directly behind the vehicle the display device includes a first display device corresponding to the first camera, used to display the electronic rearview mirror picture taken by the first camera; corresponding to the second camera The second display device is used to display the image of the electronic rearview mirror captured by the second camera, and the third display device corresponding to the third camera is used to display the image of the electronic rearview mirror captured by the third camera.
  • the function of the electronic rearview mirror can be better realized and user experience can be improved.
  • the embodiments of the present application provide an image processing method.
  • the method is used for a domain controller DC, and the method includes: receiving first image data sent by an electronic rearview mirror control unit, and the first image data is obtained by the electronic rearview mirror control unit from one or more cameras , collected by the one or more cameras, the first image data is used to be processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data is used to be processed by the electronic rearview mirror control unit
  • the rearview mirror control unit outputs to the display device corresponding to the electronic rearview mirror control unit.
  • the first image data is the image data collected by the camera acquired by the electronic rearview mirror control unit, and the image data is used to be processed and output to the display device, so that
  • the camera can be directly connected to the electronic rearview mirror control unit to realize the function of the electronic rearview mirror without relying on the domain controller.
  • the domain controller fails, the function of the electronic rearview mirror can also be realized normally, ensuring the safety of intelligent driving In this case, the electronic rearview mirror starts quickly and has a small delay, which improves the user experience.
  • the image data collected by the camera can also be shared with the electronic rearview mirror, which saves cost and space deployment.
  • the method further includes: acquiring sensory data collected by one or more sensors; according to the first image data, and/or, The sensing data collected by the one or more sensors determines second image data; sends the second image data to the electronic rearview mirror control unit, and the second image data is used to be controlled by the electronic rearview mirror
  • the unit performs processing to obtain processed image data, and the processed image data is used to be output to the display device by the electronic rearview mirror control unit.
  • the domain controller obtains the sensing data, and uses the first image data, and/or, the sensing data, to determine the second image data, which can make the domain controller use its computing power to perform calculations to enhance The function of the electronic rearview mirror further improves the safety and comfort during driving.
  • sending the second image data to the electronic rearview mirror control unit includes: controlling Send the second image data to the electronic rearview mirror control unit through a CAN interface or an ETH interface.
  • the field of view of the second image data corresponds to a vehicle driving scene.
  • the image information can be made more refined, and the driving experience is better.
  • the field of view of the second image data includes a 360-degree area around the vehicle. panoramic environment.
  • the field of view of the image can be made larger, and the driving experience is better.
  • the method further includes: Acquiring the sensing data collected by one or more sensors; determining indication information according to the first image data and/or the sensing data collected by the one or more sensors; sending to the electronic rearview mirror control unit Sending the instruction information, the instruction information is used for the electronic rearview mirror control unit to output corresponding display information to the display device according to the instruction information.
  • the domain controller obtains the sensing data, and uses the first image data, and/or, the sensing data to determine the indication information, so that the domain controller can use its computing power to perform calculations to enhance the electronic rear
  • the function of the mirror further improves the safety and comfort during driving.
  • the The electronic rearview mirror control unit includes a deserializer, and receiving the first image data sent by the electronic rearview mirror control unit includes: receiving the first image data sent by the deserializer.
  • a way for the domain controller to receive the first image data can be implemented, so that the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve user experience.
  • the The electronic rearview mirror control unit includes a processing unit, and receiving the first image data sent by the electronic rearview mirror control unit includes: receiving the first image data sent by the processing unit.
  • the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve user experience.
  • receiving the first image data sent by the electronic rearview mirror control unit includes: receiving the first image data sent by the electronic rearview mirror control unit through a low-voltage differential signal LVDS interface.
  • the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve user experience.
  • the one or more cameras include a first camera for photographing the left rear of the vehicle, a second camera for photographing the right rear of the vehicle, and a second camera for photographing the rear of the vehicle.
  • the third camera that shoots directly behind the vehicle includes a first display device corresponding to the first camera, used to display the electronic rearview mirror picture taken by the first camera; a second display device corresponding to the second camera , for displaying the image of the electronic rearview mirror captured by the second camera, and a third display device corresponding to the third camera, for displaying the image of the electronic rearview mirror captured by the third camera.
  • the function of the electronic rearview mirror can be better realized and user experience can be improved.
  • inventions of the present application provide an image processing device.
  • the device is used in an electronic rearview mirror control unit, and the device includes: a first acquisition module, configured to acquire the first image data collected by the one or more cameras from one or more cameras; a first sending module, used for sending the first image data to a domain controller DC; a first processing output module, configured to process the first image data to obtain processed image data, and output the processed image data to the On the display device corresponding to the electronic rearview mirror control unit.
  • the device further includes: a first receiving module, configured to receive the second image data sent by the domain controller, and the second The image data is determined by the domain controller according to the first image data and/or the sensing data collected by one or more sensors; the second processing output module is configured to process the second image data The processed image data is obtained, and the processed image data is output to the display device.
  • the first receiving module is configured to: receive the domain controller through the controller area network CAN interface or The second image data sent by the Ethernet ETH interface.
  • the field of view of the second image data corresponds to a vehicle driving scene.
  • the field of view of the second image data includes a 360-degree area around the vehicle. panoramic environment.
  • the device further includes: The second receiving module is configured to receive indication information sent by the domain controller, where the indication information is the sensing data collected by the domain controller according to the first image data and/or one or more sensors Determined; a third processing and output module, configured to output corresponding display information to the display device according to the instruction information.
  • the electronic rearview mirror control unit includes a deserializer and a processing unit, the deserializer is used to connect with the one or more cameras, acquire the first image data, and send the first image data to the The processing unit; the processing unit is used to process the first image data to obtain processed image data, and output the processed image data to the display device corresponding to the electronic rearview mirror control unit .
  • the first sending module is configured to: the deserializer sends the domain controller the the first image data.
  • the first sending module is configured to: the processing unit sends the first image data.
  • the first sending module is configured to: send the first image data to the domain controller through a low-voltage differential signal LVDS interface.
  • the one or more cameras include a first camera for shooting the left rear of the vehicle, and a second camera for shooting the right rear of the vehicle and a third camera for shooting directly behind the vehicle
  • the display device includes a first display device corresponding to the first camera, for displaying the electronic rearview mirror picture taken by the first camera;
  • the second display device is used to display the image of the electronic rearview mirror taken by the second camera, and the third display device corresponding to the third camera is used to display the image of the electronic rearview mirror taken by the third camera.
  • inventions of the present application provide an image processing device.
  • the device is used for a domain controller DC, and the device includes: a third receiving module, configured to receive the first image data sent by the electronic rearview mirror control unit, and the first image data is obtained from the electronic rearview mirror control unit Acquired by one or more cameras, the first image data collected by the one or more cameras is used to be processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image The data is used to be output by the electronic rearview mirror control unit to a display device corresponding to the electronic rearview mirror control unit.
  • the device further includes: a second acquiring module, configured to acquire sensory data collected by one or more sensors; a first determining module, It is used to determine the second image data according to the first image data and/or the sensing data collected by the one or more sensors; the second sending module is used to send the electronic rearview mirror control unit The second image data, the second image data is used to be processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data is used to be output by the electronic rearview mirror control unit to the display device in question.
  • a second acquiring module configured to acquire sensory data collected by one or more sensors
  • a first determining module It is used to determine the second image data according to the first image data and/or the sensing data collected by the one or more sensors
  • the second sending module is used to send the electronic rearview mirror control unit
  • the second image data, the second image data is used to be processed by the electronic rearview mirror control unit to obtain processed image data
  • the processed image data is used to be output by the electronic rearview mirror control unit to the display device
  • the second sending module is configured to: The electronic rearview mirror control unit sends the second image data.
  • the field of view of the second image data corresponds to a vehicle driving scene.
  • the field of view of the second image data includes a 360-degree area around the vehicle. panoramic environment.
  • the device further includes: The third acquiring module is configured to acquire the sensing data collected by one or more sensors; the second determining module is configured to use the first image data and/or the sensing data collected by the one or more sensors , determine the indication information; a third sending module, configured to send the indication information to the electronic rearview mirror control unit, the indication information is used for the electronic rearview mirror control unit to output a corresponding display according to the indication information information to the display device.
  • the The electronic rearview mirror control unit includes a deserializer, and a third receiving module, configured to: receive the first image data sent by the deserializer.
  • the The electronic rearview mirror control unit includes a processing unit and a third receiving module, configured to: receive the first image data sent by the processing unit.
  • the third receiving module is configured to: receive the first image data sent by the electronic rearview mirror control unit through a low-voltage differential signal LVDS interface.
  • the one or more cameras include a first camera for shooting the left rear of the vehicle, a second camera for shooting the right rear of the vehicle, and a second camera for shooting the rear of the vehicle.
  • the third camera that shoots directly behind the vehicle the display device includes a first display device corresponding to the first camera, used to display the electronic rearview mirror picture taken by the first camera; a second display device corresponding to the second camera , for displaying the image of the electronic rearview mirror captured by the second camera, and a third display device corresponding to the third camera, for displaying the image of the electronic rearview mirror captured by the third camera.
  • an embodiment of the present application provides an image processing device, which includes: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to implement The image processing method of one or more of the above-mentioned first aspect or one or more of the multiple possible implementations of the first aspect, or one or more of the above-mentioned second aspect or one of the multiple possible implementations of the second aspect Several image processing methods.
  • the embodiments of the present application provide a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned first aspect or the first aspect is realized
  • the embodiments of the present application provide a terminal device, which can execute one or more image processing methods in the above-mentioned first aspect or multiple possible implementation manners of the first aspect, or, Execute the image processing method of the second aspect or one or more of the multiple possible implementation manners of the second aspect.
  • the embodiments of the present application provide a computer program product, including computer readable code, or a non-volatile computer readable storage medium bearing computer readable code, when the computer readable code is stored in an electronic
  • the processor in the electronic device executes the image processing method of the above-mentioned first aspect or one or more of the multiple possible implementations of the first aspect, or executes the above-mentioned second aspect or the first aspect An image processing method of one or more of the multiple possible implementations of the two aspects.
  • an embodiment of the present application provides an electronic rearview mirror system, including: one or more cameras; a display device corresponding to the one or more cameras; and an electronic rearview mirror control unit for performing An image processing method in one or more of the above first aspect or multiple possible implementation manners of the first aspect.
  • an embodiment of the present application provides a vehicle, including one or more cameras; a display device corresponding to the one or more cameras; and an electronic rearview mirror control unit, configured to perform the above-mentioned first aspect or An image processing method in one or more of the multiple possible implementations of the first aspect; a domain controller DC, configured to execute the above-mentioned second aspect or one or more of the multiple possible implementations of the second aspect Several image processing methods.
  • the embodiment of the present application provides a vehicle, including the electronic rearview mirror system in the above-mentioned ninth aspect; a domain controller DC, configured to implement the above-mentioned second aspect or multiple possibilities of the second aspect One or several image processing methods in the implementation manner.
  • Figure 1 shows a possible deployment of the intelligent driving domain controller and the shared camera of the electronic rearview mirror.
  • Fig. 2 shows a schematic diagram of a system architecture according to an embodiment of the present application.
  • Fig. 3 shows a flowchart of an image processing method according to an embodiment of the present application.
  • Fig. 4 shows a schematic diagram of a transmission manner of first image data according to an embodiment of the present application.
  • Fig. 5 shows a flowchart of an image processing method according to an embodiment of the present application.
  • Fig. 6 shows a schematic diagram of a transmission manner of second image data according to an embodiment of the present application.
  • Fig. 7 shows a flowchart of an image processing method according to an embodiment of the present application.
  • Fig. 8 shows a structural diagram of an image processing device according to an embodiment of the present application.
  • Fig. 9 shows a structural diagram of an image processing device according to an embodiment of the present application.
  • FIG. 10 shows a structural diagram of an electronic device 100 according to an embodiment of the present application.
  • the intelligent driving domain controller obtains data from sensors including cameras and performs fusion processing. data for vehicle control.
  • the electronic rearview mirror After the electronic rearview mirror is installed on the vehicle, some positions of the camera connected to the electronic rearview mirror and the camera connected to the intelligent driving domain controller may overlap. The location of the camera to share the problem.
  • Figure 1 shows a possible deployment of the intelligent driving domain controller and the shared camera of the electronic rearview mirror. See Figure 1. In this deployment mode, the camera will send the collected image data to the intelligent driving domain controller.
  • the intelligent driving domain controller can fuse the image data with the data collected by other sensors to obtain Carry out vehicle control and realize the function of intelligent driving.
  • the image data will also be sent to the electronic rearview mirror ECU by the intelligent driving domain controller. After the electronic rearview mirror ECU obtains the image data, it will process the data and send it to the corresponding display screen for display, so as to realize the electronic rearview mirror function.
  • the electronic rearview mirror ECU cannot obtain the image data collected by the camera, so that the electronic rearview mirror function cannot be realized, so it will also fail, and the safety requirements cannot be guaranteed.
  • the electronic rearview mirror can only be used normally after the smart driving domain controller is started. Therefore, the start-up is slow and the delay is high, which affects the user experience.
  • the present application further provides an image processing method.
  • the image processing method in the embodiment of the present application can realize that the electronic rearview mirror control unit obtains the first image captured by the one or more cameras from one or more cameras.
  • One image data, the first image data is processed by the electronic rearview mirror control unit to obtain the processed image data, and the processed image data is output to the display device corresponding to the electronic rearview mirror control unit to realize the electronic rearview mirror control unit. function of the mirror.
  • the electronic rearview mirror control unit can also send the first image data to an intelligent driving domain controller (domain controller, DC), and the domain controller DC receives the first image data, so as to realize other intelligent driving functions.
  • domain controller domain controller
  • the camera can be directly connected to the electronic rearview mirror control unit to realize the function of the electronic rearview mirror without relying on the domain controller, so that when the domain controller fails, the function of the electronic rearview mirror can also be realized normally.
  • the safety requirements of intelligent driving are guaranteed, and in this case, the electronic rearview mirror starts quickly and has a small delay, which improves the user experience.
  • the electronic rearview mirror and the domain controller can also share the image data collected by the camera, saving cost and space deployment of the camera.
  • Fig. 2 shows a schematic diagram of a system architecture according to an embodiment of the present application.
  • the electronic rearview mirror system of the embodiment of the present application can be deployed on a vehicle, and can include one or more of an electronic rearview mirror control unit 101, one or more cameras, and one or more display devices. kind.
  • the electronic rearview mirror system may only include the electronic rearview mirror control unit 101, or include the electronic rearview mirror control unit 101 and one or more display devices, or include the electronic rearview mirror control unit 101 and one or more
  • the camera may include the electronic rearview mirror control unit 101, one or more cameras and one or more display devices, which is not limited in this application.
  • the one or more cameras may include cameras 111-113, part or all of the cameras 111-113 may be cameras dedicated to realizing the electronic rearview mirror function, and some or all of the cameras 111-113 may also be sensors Part of 103, in addition to realizing the electronic rearview mirror function, can also be used to provide image data to the domain controller for vehicle control and intelligent driving function, which is not limited in this application.
  • the one or more display devices may include display devices 121-123, and part or all of the display devices 121-123 may be display devices dedicated to realizing the function of an electronic rearview mirror, and part or all of the display devices 121-123 It may also be a display device used to realize other intelligent driving functions in addition to the electronic rearview mirror function, which is not limited in this application.
  • the cameras 111 - 113 can be deployed outside the vehicle and connected to the electronic rearview mirror control unit 101 for taking pictures of the rear of the vehicle, obtaining first image data and sending it to the electronic rearview mirror control unit 101 .
  • the electronic rearview mirror control unit 101 can be dedicated to realize the electronic rearview mirror function in combination with the camera and display device, and can be deployed on the ECU or CDC alone, or integrated with other vehicle-mounted domain controllers, and can be used to receive the camera 111- 113 collects the first image data, processes the first image data to obtain the processed image data, and sends it to the display device 121-123 for display, and can also be used to send the first image data to the domain controller deployed on the vehicle 102.
  • the domain controller 102 may be connected to the electronic rearview mirror control unit 101 for receiving the first image data sent by the electronic rearview mirror control unit 101 .
  • the domain controller 102 may be a domain controller used to implement functions related to intelligent driving, such as a vehicle computing device.
  • the display devices 121-123 can be screens, projectors, etc., can be deployed inside the vehicle, can be connected with the electronic rearview mirror control unit 101, and are used to receive and display the processed image data sent by the electronic rearview mirror control unit 101.
  • the sensor 103 may be connected to the domain controller 102 .
  • the sensor 103 may include one or more of the following: vehicle radar (such as millimeter wave radar, laser radar, ultrasonic radar, etc.), rain sensor, camera, vehicle attitude sensor (such as gyroscope), inertial measurement unit (inertial measurement unit, IMU) ), global navigation satellite system (GNSS), etc.
  • vehicle radar such as millimeter wave radar, laser radar, ultrasonic radar, etc.
  • rain sensor such as gyroscope
  • IMU inertial measurement unit
  • GNSS global navigation satellite system
  • the cameras may be cameras other than the cameras 111-113, or part or all of the cameras 111-113.
  • the sensor 103 can be used to enhance the function of the electronic rearview mirror.
  • the domain controller 102 can The image data and the sensing data collected by the sensor 103 are used to determine new image data, so as to realize a better function of the electronic rearview mirror.
  • the image processing method of the present application can be used in a scene of intelligent driving.
  • the domain controller 102 fails, the driver can take over the control of the vehicle.
  • the electronic rearview mirror control unit 101 can also work normally to realize the function of the electronic rearview mirror, that is, the driver can control the vehicle according to Drive safely with the surrounding conditions of the vehicle indicated by the electronic rearview mirror.
  • the image processing method of the present application can also be used in other vehicle driving scenarios, such as assisting a driver in a non-intelligent driving scenario, which is not limited in the present application.
  • Fig. 3 shows a flowchart of an image processing method according to an embodiment of the present application. As shown in Figure 3, the method includes:
  • step S201 the electronic rearview mirror control unit acquires first image data collected by the one or more cameras from the one or more cameras.
  • one or more cameras may include a first camera (such as the above-mentioned camera 111) for shooting the left rear of the vehicle, a second camera (such as the above-mentioned camera 112) for shooting the right rear of the vehicle, and The third camera (such as the above-mentioned camera 113) for shooting directly behind the vehicle.
  • the first image data may include image data of the left rear, right rear and right rear of the vehicle respectively collected by the cameras 111-113.
  • the camera may also include only some of the above cameras or more cameras than the above, which is not limited in this application.
  • the electronic rearview mirror control unit may include a deserializer and a processing unit.
  • the processing unit can be a system on chip (system on chip, SoC), and the deserializer can be connected with one or more cameras (such as the above-mentioned cameras 111-113), and the first image data collected by the camera is obtained by the deserializer, and The first image data is sent to the processing unit through the deserializer, and the processing unit executes step S204.
  • SoC system on chip
  • the above-mentioned one or more cameras may send the first image data to the deserializer through a low voltage differential signaling (LVDS).
  • LVDS low voltage differential signaling
  • Step S202 the electronic rearview mirror control unit sends the first image data to the domain controller.
  • the automotive safety integrity level (automotive safety integration level (ASIL) can be ASIL B or higher.
  • the electronic rearview mirror control unit may send the first image data to the domain controller through a low-voltage differential signal LVDS interface.
  • FIG. 4 shows a schematic diagram of a transmission manner of the first image data according to an embodiment of the present application.
  • the domain controller may include a deserializer and a processing unit, and the processing unit may be a system-on-chip SoC (for example, SoC2 in the figure).
  • the electronic rearview mirror control unit may send the first image data to the domain controller through a deserializer.
  • a deserializer may send the first image data to the domain controller through the deserializer.
  • the deserializer of the electronic rearview mirror control unit after the deserializer of the electronic rearview mirror control unit receives the first image data sent by the camera as parallel data, it may not transfer the first image data to the
  • the parallel data is converted into serial data, and the first image data is sent to the deserializer of the domain controller through the LVDS interface, and the data is processed by the deserializer of the domain controller, and the first image data is converted from the parallel data Convert it to serial data, and send the processed image data to SoC2 through the mobile industry processor interface (MIPI), so that the processing unit of the subsequent domain controller can process the image data to realize related intelligent driving Function.
  • MIPI mobile industry processor interface
  • the electronic rearview mirror control unit may further include a serial adder.
  • the deserializer of the electronic rearview mirror control unit can process the first image data, convert the first image data from parallel data to serial data, and send it to the serializer through MIPI, and the serializer can convert the first image data
  • One image data is converted into parallel data by serial data, and sends this first image data to the deserializer of domain controller through LVDS interface, and the deserializer of domain controller can process data, and this first image data is by
  • the parallel data is converted into serial data, and the processed image data is sent to SoC2 through the mobile industry processor interface (MIPI), so that the processing unit of the subsequent domain controller can process the image data to achieve correlation Intelligent driving function.
  • MIPI mobile industry processor interface
  • the electronic rearview mirror control unit may send the first image data to the domain controller through a processing unit of the electronic rearview mirror control unit.
  • a processing unit of the electronic rearview mirror control unit shows a manner in which the electronic rearview mirror control unit sends the first image data to the domain controller through the processing unit.
  • the processing unit of the electronic rearview mirror control unit may be a system-on-a-chip SoC (such as SoC1 in the figure)
  • the electronic rearview mirror control unit may also include a serial adder.
  • SoC1 can receive the first image data processed by the deserializer and sent as serial data through MIPI, and send it to the serializer through MIPI, and the serializer can convert the first image data from serial data to parallel data , and send the first image data to the deserializer of the domain controller through the LVDS interface, the deserializer of the domain controller can process the data, the first image data is converted from parallel data to serial data, and passed MIPI Send the processed image data to SoC2, so that the processing unit of the subsequent domain controller can process the image data to realize relevant intelligent driving functions.
  • step S203 the domain controller receives the first image data sent by the electronic rearview mirror control unit.
  • the domain controller may receive the first image data sent by the electronic rearview mirror control unit through a low voltage differential signal LVDS interface.
  • the domain controller may receive the first image data sent by the deserializer of the electronic rearview mirror control unit, and the domain controller may also receive the first image data sent by the electronic rearview mirror control unit.
  • the first image data sent by the processing unit corresponds to that in step S202, and reference may be made to related descriptions in step S202.
  • Step S204 the electronic rearview mirror control unit processes the first image data to obtain processed image data, and outputs the processed image data to a display device corresponding to the electronic rearview mirror control unit.
  • step S204 may be executed by the processing unit of the electronic rearview mirror control unit.
  • the processing unit may convert the color format of the first image data, such as converting YUV format to RGB format.
  • the electronic rearview mirror control unit can also include a serializer, and the processing unit can send the processed image data to the serializer through MIPI for processing, convert the image data from serial data to parallel data, and send the image data through the LVDS interface Send it to the corresponding display device for display.
  • MIPI MIPI for processing
  • the processing unit can send the processed image data to the serializer through MIPI for processing, convert the image data from serial data to parallel data, and send the image data through the LVDS interface Send it to the corresponding display device for display.
  • the display device may be a display device dedicated to realizing the function of the electronic rearview mirror, or a display device simultaneously used to realize the function of the electronic rearview mirror and other intelligent driving functions, such as the display screen of the center console, or It can be used to realize other functions such as global positioning system (global positioning system, GPS) navigation, which is not limited in this application.
  • global positioning system global positioning system, GPS
  • the display device may include: a first display device corresponding to the first camera (such as the above-mentioned display device 121 ), which may be arranged on the left front side of the vehicle to display the vehicle image captured by the first camera.
  • the electronic rearview mirror screen at the left rear; the second display device (such as the display device 122) corresponding to the second camera can be arranged on the right front side in the car, and is used to display the electronic rearview mirror on the right side of the vehicle captured by the second camera.
  • the rearview mirror image, and the third display device corresponding to the third camera can be arranged above the central control in the car, and are used to display the electronic rearview mirror image directly behind the vehicle captured by the third camera .
  • the display device may also include only some of the above display devices or more display devices than the above, which is not limited in this application.
  • the image data collected by the camera is obtained through the electronic rearview mirror control unit, and the processed image data is output to the display device, so that the camera can be directly connected to the electronic rearview mirror control unit to realize the electronic rearview mirror control unit.
  • the mirror function does not need to depend on the domain controller.
  • the electronic rearview mirror function can also be implemented normally, ensuring the safety requirements of intelligent driving. In this case, the electronic rearview mirror starts quickly and delays Small, which improves the user experience.
  • the electronic rearview mirror and the domain controller can also share the image data collected by the camera, saving cost and space for deployment.
  • the domain controller can also use the sensing data to process the first image data, so as to enhance the function of the electronic rearview mirror and further improve the safety during driving. sex and comfort.
  • the two ways to realize the function enhancement of the electronic rearview mirror can be referred to the following Fig. 5 and Fig. 6 .
  • Fig. 5 shows a flowchart of an image processing method according to an embodiment of the present application. As shown in Figure 5, the method also includes:
  • step S401 the domain controller acquires sensing data collected by one or more sensors.
  • the sensing data can be used to realize related functions of intelligent driving, for example, it can be the radar data collected by the vehicle radar, the camera (may include some or all of the cameras in the cameras 111-113, or other cameras except the cameras 111-113
  • the image data collected by a camera, such as a 360-degree surround-view camera, etc., is not limited in this application.
  • step S402 the domain controller determines second image data according to the first image data and/or sensing data collected by the one or more sensors.
  • the sensing data may include image data collected by a camera in the sensor, and the image data may include the occluded part in the first image data (that is, the blind area in the first image data, such as the front windshield on both sides of the vehicle).
  • the image data of the part blocked by the column) may also include other parts not captured in the first image data, and the first image data may be supplemented according to the image data to determine the second image data, which may be is image data having a larger field of view than the first image data.
  • the second image data may be determined by a processing unit of the domain controller.
  • the field of view of the second image data may include a 360-degree panoramic environment around the vehicle. Therefore, the field of view is wider when driving, and the driving is safer and more comfortable.
  • the field of view of the second image data may correspond to a vehicle driving scene.
  • the domain controller can judge the current driving state of the vehicle through the sensing data collected by the vehicle attitude sensor (such as a gyroscope) in the sensor, such as going straight, reversing, turning left, turning right, changing lanes, etc., and according to different For the scene, determine different field of view ranges of the second image data (such as including different azimuths, angles, etc.).
  • the second image data can be image data on the left and right sides of the vehicle (including the parts blocked by the pillars on both sides of the front windshield);
  • the second image data may be the image data of the left side and the rear of the vehicle in the first image data.
  • the above-mentioned second image data may be determined after supplementing the blocked part of the first image data according to the image data collected by the camera in the sensor.
  • the second image data may be determined by a processing unit in the domain controller.
  • the image information can be more refined, and the driving experience is better.
  • Step S403 the domain controller sends the second image data to the electronic rearview mirror control unit.
  • the interface used by the domain controller to send the second image data to the electronic rearview mirror control unit can be referred to in Figure 4, the interface used when transmitting the first image data is only the domain control
  • the transmission direction when the device sends the second image data to the electronic rearview mirror control unit is opposite to the transmission direction when the first image data is sent in FIG. 4 , and will not be repeated here.
  • the domain controller may also send the second image data to the electronic rearview mirror control unit through a controller area network (controller area network, CAN) or an Ethernet (ethernet, ETH) interface.
  • controller area network controller area network, CAN
  • Ethernet Ethernet
  • Fig. 6 shows a schematic diagram of a transmission manner of second image data according to an embodiment of the present application.
  • the processing unit of the domain controller Soc2 in the figure
  • the transmission efficiency when sending the second image data can be made higher.
  • Step S404 the electronic rearview mirror control unit receives the second image data sent by the domain controller.
  • the electronic rearview mirror control unit receives the second image data that can be sent by the domain controller through a controller area network CAN interface or an Ethernet ETH interface. This process can be referred to above FIG. 6 , and will not be repeated here.
  • Step S405 the electronic rearview mirror control unit processes the second image data to obtain processed image data, and outputs the processed image data to the display device.
  • step S405 may be executed by the processing unit of the electronic rearview mirror control unit, and the method for processing the second image data by the processing unit of the electronic rearview mirror control unit may refer to the method for processing the first image data in step S204 , such as converting the color format of the second image data.
  • the 360-degree panoramic environment can be displayed in split screens on all display devices.
  • the second image data is processed every 120 degrees of the environment around the vehicle.
  • the corresponding image may be displayed on a corresponding display device.
  • the second image data sent by the domain controller may include the image data of the left side, the right side, and the rear of the vehicle, corresponding to the left side, the right side, and the three screens above the center console respectively. display screen.
  • the second image data sent by the domain controller to the electronic rearview mirror control unit may include image data on the left and right sides of the vehicle, corresponding to the image data directly behind the vehicle.
  • the image data can be empty, and after receiving the second image data, the electronic rearview mirror control unit can respectively display on the display devices on the left and right sides of the vehicle, after processing the second image data, corresponding to the left and right sides of the vehicle.
  • the image data on the right side not the image data displayed as empty on the display device above the vehicle center console.
  • the display device may display image data in other ways, which are not shown in this application.
  • the electronic rearview mirror control unit sends the first image data to the domain controller for processing to obtain the second image data, which can make the domain controller use its computing power to perform calculations to enhance the electronic rearview mirror The function further improves the safety and comfort during driving.
  • Fig. 7 shows a flowchart of an image processing method according to an embodiment of the present application. As shown in Figure 7, the method also includes:
  • step S601 the domain controller acquires sensing data collected by one or more sensors.
  • step S401 refers to the relevant description in step S401.
  • step S602 the domain controller determines indication information according to the first image data and/or the sensing data collected by the one or more sensors.
  • the indication information may be used to indicate the 360-degree conditions around the vehicle.
  • the sensing data may include data collected by a vehicle radar, which may indicate the distance between the vehicle and related obstacles, and the domain controller may use the data collected by the vehicle radar (such as a laser radar) to determine whether there is a distance around the vehicle.
  • Obstacles that are too close can be determined as too close when the distance is less than the preset threshold
  • the position of the obstacle which can be the relative position of the obstacle and the vehicle.
  • Positioning can also be performed in the first image data according to the position of the obstacle to determine the type of the obstacle (for example, other vehicles, pedestrians, etc.), so as to determine the indication information.
  • the domain controller may also refer to the method in step S402 to determine the second image data according to the first image data and/or the sensing data collected by the one or more sensors , after the position of the obstacle is determined, positioning can also be performed in the second image data according to the position of the obstacle, so as to determine the type of the obstacle, so as to determine the indication information.
  • the indication information may include information indicating the position of the obstacle that is too short around the vehicle and the type of the obstacle, etc., for example, the image data that indicates the position information of the corresponding obstacle on the first image data or the second image data , indicating the distance information between the obstacle and the vehicle, etc., which are not limited in this application.
  • the indication information may be determined by a processing unit in the domain controller.
  • Step S603 the domain controller sends the instruction information to the electronic rearview mirror control unit.
  • the manner in which the domain controller sends the instruction information to the electronic rearview mirror control unit can refer to the manner in which the domain controller sends the second image data to the electronic rearview mirror control unit in step S403, which will not be repeated here.
  • Step S604 the electronic rearview mirror control unit receives the indication information sent by the domain controller.
  • the manner in which the electronic rearview mirror control unit receives the instruction information may refer to the manner in which the electronic rearview mirror control unit receives the second image data in step S404 , which will not be repeated here.
  • Step S605 the electronic rearview mirror control unit outputs corresponding display information to the display device according to the indication information.
  • step S605 may be executed by the processing unit of the electronic rearview mirror control unit.
  • the displayed information can be displayed on the display device in the form of text, image, video, etc., which is not limited in this application.
  • the displayed information may be, for example, the location, type, etc. of obstacles.
  • the displayed information may include an image on the left side of the vehicle, in which the pedestrian who is an obstacle may be highlighted, and the text of the distance between the obstacle and the vehicle may also be included.
  • the image on the left side of the vehicle can be displayed on the display device on the left side of the vehicle. The pedestrian in the image that is an obstacle is highlighted, and the current distance between the pedestrian and the vehicle is displayed in text form. .
  • the electronic rearview mirror control unit sends the first image data to the domain controller for processing, and obtains instruction information, so that the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror , to further improve the safety and comfort during driving.
  • Fig. 8 shows a structural diagram of an image processing device according to an embodiment of the present application.
  • the device is used in the electronic rearview mirror control unit, as shown in Figure 8, the device includes:
  • the first acquiring module 701 is configured to acquire the first image data collected by the one or more cameras from one or more cameras;
  • the first processing output module 703 is configured to process the first image data to obtain processed image data, and output the processed image data to a display device corresponding to the electronic rearview mirror control unit.
  • the image data collected by the camera is obtained through the electronic rearview mirror control unit, and the processed image data is output to the display device, so that the camera can be directly connected to the electronic rearview mirror control unit to realize the electronic rearview mirror control unit.
  • the mirror function does not need to depend on the domain controller.
  • the electronic rearview mirror function can also be implemented normally, ensuring the safety requirements of intelligent driving. In this case, the electronic rearview mirror starts quickly and delays Small, which improves the user experience.
  • the electronic rearview mirror and the domain controller can also share the image data collected by the camera, saving cost and space deployment.
  • the electronic rearview mirror control unit includes a deserializer and a processing unit, and the deserializer is used to connect with the one or more cameras, acquire the first image data, and The first image data is sent to the processing unit; the processing unit is used to process the first image data to obtain processed image data, and output the processed image data to the electronic rear view on the display device corresponding to the mirror control unit.
  • the electronic rearview mirror function can be realized independently.
  • the device further includes: a first receiving module, configured to receive second image data sent by the domain controller, where the second image data is obtained by the domain controller according to the first image data. An image data, and/or, determined by sensing data collected by one or more sensors; a second processing output module, configured to process the second image data to obtain processed image data, and process the processed The final image data is output to the display device.
  • the electronic rearview mirror control unit sends the first image data to the domain controller for processing to obtain the second image data, which can make the domain controller use its computing power to perform calculations to enhance the electronic rearview mirror The function further improves the safety and comfort during driving.
  • the first receiving module is configured to: receive the second image data sent by the domain controller through a controller area network CAN interface or an Ethernet ETH interface.
  • the transmission efficiency of the electronic rearview mirror control unit when receiving the second image data can be made higher.
  • the field of view of the second image data corresponds to a vehicle driving scene.
  • the image information can be made more refined, and the driving experience is better.
  • the field of view of the second image data includes a 360-degree panoramic environment around the vehicle.
  • the field of view of the image can be made larger, and the driving experience is better.
  • the device further includes: a second receiving module, configured to receive indication information sent by the domain controller, where the indication information is that the domain controller, according to the first image data, And/or, determined by sensing data collected by one or more sensors; a third processing and output module, configured to output corresponding display information to the display device according to the indication information.
  • a second receiving module configured to receive indication information sent by the domain controller, where the indication information is that the domain controller, according to the first image data, And/or, determined by sensing data collected by one or more sensors
  • a third processing and output module configured to output corresponding display information to the display device according to the indication information.
  • the electronic rearview mirror control unit sends the first image data to the domain controller for processing, and obtains instruction information, so that the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror , to further improve the safety and comfort during driving.
  • the first sending module is configured to: the deserializer sends the first image data to the domain controller.
  • a method for the electronic rearview mirror control unit to send the first image data to the domain controller can be implemented, so that the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve user experience .
  • the first sending module is configured to: the processing unit send the first image data to the domain controller.
  • the electronic rearview mirror control unit sends the first image data to the domain controller
  • the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve the user's safety. experience.
  • the first sending module is configured to: send the first image data to the domain controller through a low-voltage differential signal LVDS interface.
  • the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve user experience.
  • the one or more cameras include a first camera for photographing the left rear of the vehicle, a second camera for photographing the right rear of the vehicle, and a second camera for photographing the front of the vehicle.
  • the third camera for shooting at the rear, the display device includes a first display device corresponding to the first camera, used to display the electronic rearview mirror picture taken by the first camera; a second display device corresponding to the second camera, used The electronic rearview mirror picture taken by the second camera is displayed, and the third display device corresponding to the third camera is used for displaying the electronic rearview mirror picture taken by the third camera.
  • the function of the electronic rearview mirror can be better realized and user experience can be improved.
  • Fig. 9 shows a structural diagram of an image processing device according to an embodiment of the present application.
  • the device is used for domain controller DC, as shown in Figure 9, the device includes:
  • the third receiving module 801 is configured to receive the first image data sent by the electronic rearview mirror control unit, the first image data is obtained by the electronic rearview mirror control unit from one or more cameras, the one or Collected by multiple cameras, the first image data is used to be processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data is used to be processed by the electronic rearview mirror control unit output to the display device corresponding to the electronic rearview mirror control unit.
  • the first image data is the image data collected by the camera acquired by the electronic rearview mirror control unit, and the image data is used to be processed and output to the display device, so that
  • the camera can be directly connected to the electronic rearview mirror control unit to realize the function of the electronic rearview mirror without relying on the domain controller.
  • the domain controller fails, the function of the electronic rearview mirror can also be realized normally, ensuring the safety of intelligent driving In this case, the electronic rearview mirror starts quickly and has a small delay, which improves the user experience.
  • the image data collected by the camera can also be shared with the electronic rearview mirror, which saves cost and space deployment.
  • the device further includes: a second acquiring module, configured to acquire sensing data collected by one or more sensors; a first determining module, configured to use the first image data, and/or Or, the sensing data collected by the one or more sensors determines the second image data; the second sending module is configured to send the second image data to the electronic rearview mirror control unit, and the second image
  • the data is used to be processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data is used to be output to the display device by the electronic rearview mirror control unit.
  • the domain controller obtains the sensing data, and uses the first image data, and/or, the sensing data, to determine the second image data, which can make the domain controller use its computing power to perform calculations to enhance The function of the electronic rearview mirror further improves the safety and comfort during driving.
  • the second sending module is configured to: send the second image data to the electronic rearview mirror control unit through a controller area network CAN interface or an Ethernet ETH interface.
  • the field of view of the second image data corresponds to a vehicle driving scene.
  • the image information can be made more refined, and the driving experience is better.
  • the field of view of the second image data includes a 360-degree panoramic environment around the vehicle.
  • the field of view of the image can be made larger, and the driving experience is better.
  • the device further includes: a third acquiring module, configured to acquire sensing data collected by one or more sensors; a second determining module, configured to use the first image data, and/or Or, the sensing data collected by the one or more sensors determines indication information; the third sending module is configured to send the indication information to the electronic rearview mirror control unit, and the indication information is used for the electronic rearview mirror control unit.
  • the rearview mirror control unit outputs corresponding display information to the display device according to the indication information.
  • the domain controller obtains the sensing data, and uses the first image data, and/or, the sensing data to determine the indication information, so that the domain controller can use its computing power to perform calculations to enhance the electronic rear
  • the function of the mirror further improves the safety and comfort during driving.
  • the electronic rearview mirror control unit includes a deserializer, and a third receiving module is configured to: receive the first image data sent by the deserializer.
  • the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve user experience.
  • the electronic rearview mirror control unit includes a processing unit and a third receiving module, configured to: receive the first image data sent by the processing unit.
  • the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve user experience.
  • the third receiving module is configured to: receive the first image data sent by the electronic rearview mirror control unit through a low-voltage differential signal LVDS interface.
  • the domain controller can use its computing power to perform calculations, so as to enhance the function of the electronic rearview mirror and improve user experience.
  • the one or more cameras include a first camera for photographing the left rear of the vehicle, a second camera for photographing the right rear of the vehicle, and a second camera for photographing the front of the vehicle.
  • the third camera for shooting at the rear, the display device includes a first display device corresponding to the first camera, used to display the electronic rearview mirror picture taken by the first camera; a second display device corresponding to the second camera, used The electronic rearview mirror picture taken by the second camera is displayed, and the third display device corresponding to the third camera is used for displaying the electronic rearview mirror picture taken by the third camera.
  • the function of the electronic rearview mirror can be better realized and user experience can be improved.
  • FIG. 10 shows a structural diagram of an electronic device 100 according to an embodiment of the present application.
  • the electronic device 100 may be the above-mentioned electronic rearview mirror control unit 101, or the above-mentioned domain controller 102, which executes the electronic rearview mirror in the image processing method shown in any one of the above-mentioned FIGS. function of the mirror control unit or domain controller.
  • the electronic device 100 includes at least one processor 1801 , at least one memory 1802 and at least one communication interface 1803 .
  • the electronic device may also include common components such as an antenna, which will not be described in detail here.
  • the processor 1801 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs in the above solutions.
  • the processor 1801 may include one or more processing units, for example: the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processing unit (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), controller, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural network processor (neural-network processing unit, NPU), etc.
  • different processing units may be independent devices, or may be integrated in one or more processors.
  • the communication interface 1803 is used to communicate with other electronic devices or communication networks, such as Ethernet, radio access network (RAN), core network, wireless local area network (Wireless Local Area Networks, WLAN), etc.
  • the electronic device 100 is an electronic rearview mirror control unit 101 , and the communication interface 1803 can be used to communicate with the domain controller 102 .
  • the digital electronic device 100 is the domain controller 102 , and the communication interface 1803 can be used to communicate with the electronic rearview mirror control unit 101 .
  • Memory 1802 may be read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and instructions, random access memory (random access memory, RAM) or other types that can store information and instructions It can also be an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be stored by a computer Any other medium, but not limited to.
  • the memory can exist independently and be connected to the processor through the bus. Memory can also be integrated with the processor.
  • the memory 1802 is used to store application program codes for executing the above solutions, and the execution is controlled by the processor 1801 .
  • the processor 1801 is configured to execute application program codes stored in the memory 1802 .
  • An embodiment of the present application provides an image processing device, including: a processor and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the above method when executing the instructions.
  • An embodiment of the present application provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is realized.
  • Embodiments of the present application provide a terminal device, and the terminal device can execute the foregoing method.
  • An embodiment of the present application provides a computer program product, including computer-readable codes, or a non-volatile computer-readable storage medium bearing computer-readable codes, when the computer-readable codes are stored in a processor of an electronic device When running in the electronic device, the processor in the electronic device executes the above method.
  • An embodiment of the present application provides an electronic rearview mirror system, including: one or more cameras; a display device corresponding to the one or more cameras; and an electronic rearview mirror control unit, the electronic rearview mirror control unit Can be used to perform the above related methods.
  • An embodiment of the present application provides a vehicle, including one or more cameras; a display device corresponding to the one or more cameras; an electronic rearview mirror control unit, which can be used to perform the above-mentioned related methods; a domain controller DC can be used to perform the above related methods.
  • An embodiment of the present application provides a vehicle, including: the above-mentioned electronic rearview mirror system; and a domain controller DC, which can be used to execute the above-mentioned related method.
  • a computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device.
  • a computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer disk, hard disk, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), erasable Electrically Programmable Read-Only-Memory (EPROM or flash memory), Static Random-Access Memory (Static Random-Access Memory, SRAM), Portable Compression Disk Read-Only Memory (Compact Disc Read-Only Memory, CD - ROM), Digital Video Disc (DVD), memory sticks, floppy disks, mechanically encoded devices such as punched cards or raised structures in grooves with instructions stored thereon, and any suitable combination of the foregoing .
  • RAM Random Access Memory
  • ROM read only memory
  • EPROM or flash memory erasable Electrically Programmable Read-Only-Memory
  • Static Random-Access Memory SRAM
  • Portable Compression Disk Read-Only Memory Compact Disc Read-Only Memory
  • CD - ROM Compact Disc Read-Only Memory
  • DVD Digital Video Disc
  • Computer readable program instructions or codes described herein may be downloaded from a computer readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the Internet, local area network, wide area network, and/or wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or a network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present application may be assembly instructions, instruction set architecture (Instruction Set Architecture, ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more source or object code written in any combination of programming languages, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages.
  • Computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer can be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer such as use an Internet service provider to connect via the Internet).
  • electronic circuits such as programmable logic circuits, field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or programmable logic arrays (Programmable Logic Array, PLA), the electronic circuit can execute computer-readable program instructions, thereby realizing various aspects of the present application.
  • These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram.
  • These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.
  • each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented with hardware (such as circuits or ASIC (Application Specific Integrated Circuit, application-specific integrated circuit)), or it can be realized by a combination of hardware and software, such as firmware.
  • hardware such as circuits or ASIC (Application Specific Integrated Circuit, application-specific integrated circuit)
  • firmware such as firmware

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Abstract

一种图像处理方法、装置、存储介质、电子后视镜系统和车辆。该方法包括：电子后视镜控制单元（101）从一个或多个摄像头（111；112；113）获取采集的第一图像数据，向域控制器（102）发送第一图像数据；域控制器（102）接收电子后视镜控制单元（101）发送的第一图像数据；电子后视镜控制单元（101）对第一图像数据进行处理得到处理后的图像数据，并将处理后的图像数据输出到显示设备（121；122；123）上。保证了智能驾驶的安全需求，提升了用户的体验。

Description

图像处理方法、装置、存储介质、电子后视镜系统和车辆 技术领域
本申请涉及汽车技术领域，尤其涉及一种图像处理方法、装置、存储介质、电子后视镜系统和车辆。
背景技术
随着技术的发展，电子后视镜开始在车上安装，提供车辆周边的图像信息，辅助器材安全驾驶。电子后视镜，又可称为摄像头监控系统(camera monitor system，CMS)，包括摄像头和显示屏，可以通过摄像头采集实时影像并传送到显示屏上显示。相比光学后视镜具有拓宽视场角、不受环境影响等优势。
当前在车辆上实现电子后视镜功能通常需要一个专用的电子控制单元(electronic control unit，ECU)对摄像头采集的数据进行处理以在显示屏上显示，电子后视镜安装在车上的方案还不成熟，往往存在启动慢、时延高，影响用户体验和大规模应用。因此，亟需更安全高效的图像处理技术以改善上述问题，提升用户体验，使得这一技术能够得到广泛应用。
发明内容
有鉴于此，提出了一种图像处理方法、装置、存储介质、电子后视镜系统和车辆。
第一方面，本申请的实施例提供了一种图像处理方法。该方法用于电子后视镜控制单元，该方法包括：从一个或多个摄像头获取所述一个或多个摄像头采集的第一图像数据；向域控制器DC发送所述第一图像数据；对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
根据本申请实施例，通过电子后视镜控制单元获取摄像头采集的图像数据，并将处理后的图像数据输出到显示设备上，使得摄像头可以直接接入电子后视镜控制单元以实现电子后视镜的功能，无需依赖于域控制器，在域控制器失效时，电子后视镜功能也可以正常实现，保证了智能驾驶的安全需求，且这种情况下电子后视镜启动快、时延小，提升了用户的体验。同时，通过电子后视镜控制单元将第一图像数据发送给域控制器，还可以实现电子后视镜和域控制器共享摄像头采集的图像数据，节约了成本和空间部署。
根据第一方面，在所述图像处理方法的第一种可能的实现方式中，该方法还包括：接收所述域控制器发送的第二图像数据，所述第二图像数据为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；对所述第二图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述显示设备上。
根据本申请实施例，通过电子后视镜控制单元将第一图像数据发送给域控制器进行处理，得到第二图像数据，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
根据第一方面的第一种可能的实现方式中，在所述图像处理方法的第二种可能的实现方式中，接收所述域控制器发送的第二图像数据，包括：接收所述域控制器通过控制器局域网CAN接口或以太网ETH接口发送的所述第二图像数据。
由此，可以使得电子后视镜控制单元接收第二图像数据时的传输效率更高。
根据第一方面的第一种或第二种可能的实现方式中，在所述图像处理方法的第三种可能的实现方式中，该第二图像数据的视野范围与车辆行驶场景对应。
由此，可以使得图像信息更加精细化，行驶时体验更佳。
根据第一方面的第一种或第二种或第三种可能的实现方式中，在所述图像处理方法的第四种可能的实现方式中，该第二图像数据的视野范围包括车辆周围的360度全景环境。
由此，可以使得图像的视野范围更大，行驶时体验更佳。
根据第一方面或第一方面的第一种或第二种或第三种或第四种可能的实现方式中，在所述图像处理方法的第五种可能的实现方式中，该方法还包括：接收所述域控制器发送的指示信息，所述指示信息为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；根据所述指示信息输出对应的显示信息到所述显示设备上。
根据本申请实施例，通过电子后视镜控制单元将第一图像数据发送给域控制器进行处理，得到指示信息，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
根据第一方面或第一方面的第一种或第二种或第三种或第四种或第五种可能的实现方式中，在所述图像处理方法的第六种可能的实现方式中，该电子后视镜控制单元包括解串器和处理单元，所述解串器用于和所述一个或多个摄像头连接，获取所述第一图像数据，并将所述第一图像数据发送至所述处理单元；所述处理单元用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
由此，可以独立的实现电子后视镜功能。
根据第一方面的第六种可能的实现方式中，在所述图像处理方法的第七种可能的实现方式中，向域控制器DC发送所述第一图像数据，包括：所述解串器向所述域控制器发送所述第一图像数据。
由此，可以实现一种电子后视镜控制单元向域控制器发送第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
根据第一方面的第六种可能的实现方式中，在所述图像处理方法的第八种可能的实现方式中，向域控制器DC发送所述第一图像数据，包括：所述处理单元向所述域控制器发送所述第一图像数据。
由此，可以实现另一种电子后视镜控制单元向域控制器发送第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
根据第一方面或第一方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种或第八种可能的实现方式中，在所述图像处理方法的第九种可能的实现方式中，向域控制器DC发送所述第一图像数据，包括：通过低压差分信号LVDS接口向所述域控制器发送所述第一图像数据。
由此，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
根据第一方面或第一方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种或第八种或第九种可能的实现方式中，在所述图像处理方法的第十种可能的实现方式中， 所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
从而，通过利用多个摄像头和显示设备，可以更好地实现电子后视镜功能，提升用户的体验。
第二方面，本申请的实施例提供了一种图像处理方法。该方法用于域控制器DC，该方法包括：接收电子后视镜控制单元发送的第一图像数据，所述第一图像数据为所述电子后视镜控制单元从一个或多个摄像头获取的、所述一个或多个摄像头采集的，所述第一图像数据用于被所述电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述电子后视镜控制单元对应的显示设备上。
根据本申请实施例，通过接收第一图像数据，该第一图像数据为电子后视镜控制单元获取的摄像头采集的图像数据，且该图像数据用于被处理并被输出到显示设备上，使得摄像头可以直接接入电子后视镜控制单元以实现电子后视镜的功能，无需依赖于域控制器，在域控制器失效时，电子后视镜功能也可以正常实现，保证了智能驾驶的安全需求，且这种情况下电子后视镜启动快、时延小，提升了用户的体验。同时，通过接收电子后视镜控制单元发送的第一图像数据，还可以实现与电子后视镜共享摄像头采集的图像数据，节约了成本和空间部署。
根据第二方面，在所述图像处理方法的第一种可能的实现方式中，该方法还包括：获取一个或多个传感器采集的传感数据；根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定第二图像数据；向所述电子后视镜控制单元发送所述第二图像数据，所述第二图像数据用于被电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述显示设备上。
根据本申请实施例，通过域控制器获取传感数据，并利用第一图像数据，和/或，传感数据，确定第二图像数据，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
根据第二方面的第一种可能的实现方式，在所述图像处理方法的第二种可能的实现方式中，向所述电子后视镜控制单元发送所述第二图像数据，包括：通过控制器局域网CAN接口或以太网ETH接口向所述电子后视镜控制单元发送所述第二图像数据。
由此，可以使得域控制器发送第二图像数据时的传输效率更高。
根据第二方面的第一种或第二种可能的实现方式，在所述图像处理方法的第三种可能的实现方式中，该第二图像数据的视野范围与车辆行驶场景对应。
由此，可以使得图像信息更加精细化，行驶时体验更佳。
根据第二方面的第一种或第二种或第三种可能的实现方式，在所述图像处理方法的第四种可能的实现方式中，该第二图像数据的视野范围包括车辆周围的360度全景环境。
由此，可以使得图像的视野范围更大，行驶时体验更佳。
根据第二方面或第二方面的第一种或第二种或第三种或第四种可能的实现方式，在所述图像处理方法的第五种可能的实现方式中，该方法还包括：获取一个或多个传感器采集的传 感数据；根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定指示信息；向所述电子后视镜控制单元发送所述指示信息，所述指示信息用于所述电子后视镜控制单元根据所述指示信息输出对应的显示信息到所述显示设备上。
根据本申请实施例，通过域控制器获取传感数据，并利用第一图像数据，和/或，传感数据，确定指示信息，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
根据第二方面或第二方面的第一种或第二种或第三种或第四种或第五种可能的实现方式，在所述图像处理方法的第六种可能的实现方式中，该电子后视镜控制单元包括解串器，接收电子后视镜控制单元发送的第一图像数据，包括：接收所述解串器发送的所述第一图像数据。
由此，可以实现一种域控制器接收第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
根据第二方面或第二方面的第一种或第二种或第三种或第四种或第五种可能的实现方式，在所述图像处理方法的第七种可能的实现方式中，该电子后视镜控制单元包括处理单元，接收电子后视镜控制单元发送的第一图像数据，包括：接收所述处理单元发送的所述第一图像数据。
由此，可以实现另一种域控制器接收第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
根据第二方面或第二方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种可能的实现方式，在所述图像处理方法的第八种可能的实现方式中，接收电子后视镜控制单元发送的第一图像数据，包括：接收所述电子后视镜控制单元通过低压差分信号LVDS接口发送的所述第一图像数据。
由此，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
根据第二方面或第二方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种或第八种可能的实现方式，在所述图像处理方法的第九种可能的实现方式中，所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
从而，通过利用多个摄像头和显示设备，可以更好地实现电子后视镜功能，提升用户的体验。
第三方面，本申请的实施例提供了一种图像处理装置。该装置用于电子后视镜控制单元，该装置包括：第一获取模块，用于从一个或多个摄像头获取所述一个或多个摄像头采集的第一图像数据；第一发送模块，用于向域控制器DC发送所述第一图像数据；第一处理输出模块，用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
根据第三方面，在所述图像处理装置的第一种可能的实现方式中，该装置还包括：第一接收模块，用于接收所述域控制器发送的第二图像数据，所述第二图像数据为所述域控制器 根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；第二处理输出模块，用于对所述第二图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述显示设备上。
根据第三方面的第一种可能的实现方式，在所述图像处理装置的第二种可能的实现方式中，第一接收模块，用于：接收所述域控制器通过控制器局域网CAN接口或以太网ETH接口发送的所述第二图像数据。
根据第三方面的第一种或第二种可能的实现方式，在所述图像处理装置的第三种可能的实现方式中，该第二图像数据的视野范围与车辆行驶场景对应。
根据第三方面的第一种或第二种或第三种可能的实现方式，在所述图像处理装置的第四种可能的实现方式中，该第二图像数据的视野范围包括车辆周围的360度全景环境。
根据第三方面或第三方面的第一种或第二种或第三种或第四种可能的实现方式，在所述图像处理装置的第五种可能的实现方式中，该装置还包括：第二接收模块，用于接收所述域控制器发送的指示信息，所述指示信息为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；第三处理输出模块，用于根据所述指示信息输出对应的显示信息到所述显示设备上。
根据第三方面或第三方面的第一种或第二种或第三种或第四种或第五种可能的实现方式中，在所述图像处理装置的第六种可能的实现方式中，该电子后视镜控制单元包括解串器和处理单元，所述解串器用于和所述一个或多个摄像头连接，获取所述第一图像数据，并将所述第一图像数据发送至所述处理单元；所述处理单元用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
根据第三方面的第六种可能的实现方式，在所述图像处理装置的第七种可能的实现方式中，第一发送模块，用于：所述解串器向所述域控制器发送所述第一图像数据。
根据第三方面的第六种可能的实现方式，在所述图像处理装置的第八种可能的实现方式中，第一发送模块，用于：所述处理单元向所述域控制器发送所述第一图像数据。
根据第三方面或第三方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种或第八种可能的实现方式，在所述图像处理装置的第九种可能的实现方式中，第一发送模块，用于：通过低压差分信号LVDS接口向所述域控制器发送所述第一图像数据。
根据第三方面或第三方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种或第八种或第九种可能的实现方式，在所述图像处理装置的第十种可能的实现方式中，所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
第四方面，本申请的实施例提供了一种图像处理装置。该装置用于域控制器DC，该装置包括：第三接收模块，用于接收电子后视镜控制单元发送的第一图像数据，所述第一图像数据为所述电子后视镜控制单元从一个或多个摄像头获取的、所述一个或多个摄像头采集的，所述第一图像数据用于被所述电子后视镜控制单元进行处理得到处理后的图像数据，所述处 理后的图像数据用于被所述电子后视镜控制单元输出到所述电子后视镜控制单元对应的显示设备上。
根据第四方面，在所述图像处理装置的第一种可能的实现方式中，该装置还包括：第二获取模块，用于获取一个或多个传感器采集的传感数据；第一确定模块，用于根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定第二图像数据；第二发送模块，用于向所述电子后视镜控制单元发送所述第二图像数据，所述第二图像数据用于被电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述显示设备上。
根据第四方面的第一种可能的实现方式，在所述图像处理装置的第二种可能的实现方式中，第二发送模块，用于：通过控制器局域网CAN接口或以太网ETH接口向所述电子后视镜控制单元发送所述第二图像数据。
根据第四方面的第一种或第二种可能的实现方式，在所述图像处理装置的第三种可能的实现方式中，该第二图像数据的视野范围与车辆行驶场景对应。
根据第四方面的第一种或第二种或第三种可能的实现方式，在所述图像处理装置的第四种可能的实现方式中，该第二图像数据的视野范围包括车辆周围的360度全景环境。
根据第四方面或第四方面的第一种或第二种或第三种或第四种可能的实现方式，在所述图像处理装置的第五种可能的实现方式中，该装置还包括：第三获取模块，用于获取一个或多个传感器采集的传感数据；第二确定模块，用于根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定指示信息；第三发送模块，用于向所述电子后视镜控制单元发送所述指示信息，所述指示信息用于所述电子后视镜控制单元根据所述指示信息输出对应的显示信息到所述显示设备上。
根据第四方面或第四方面的第一种或第二种或第三种或第四种或第五种可能的实现方式，在所述图像处理装置的第六种可能的实现方式中，该电子后视镜控制单元包括解串器，第三接收模块，用于：接收所述解串器发送的所述第一图像数据。
根据第四方面或第四方面的第一种或第二种或第三种或第四种或第五种可能的实现方式，在所述图像处理装置的第七种可能的实现方式中，该电子后视镜控制单元包括处理单元，第三接收模块，用于：接收所述处理单元发送的所述第一图像数据。
根据第四方面或第四方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种可能的实现方式，在所述图像处理装置的第八种可能的实现方式中，第三接收模块，用于：接收所述电子后视镜控制单元通过低压差分信号LVDS接口发送的所述第一图像数据。
根据第四方面或第四方面的第一种或第二种或第三种或第四种或第五种或第六种或第七种或第八种可能的实现方式，在所述图像处理装置的第九种可能的实现方式中，所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
第五方面，本申请的实施例提供了一种图像处理装置，该装置包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令时实现上述第一方面 或者第一方面的多种可能的实现方式中的一种或几种的图像处理方法，或者，实现上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的图像处理方法。
第六方面，本申请的实施例提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的图像处理方法，或者，实现上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的图像处理方法。
第七方面，本申请的实施例提供了一种终端设备，该终端设备可以执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的图像处理方法，或者，执行上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的图像处理方法。
第八方面，本申请的实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的图像处理方法，或者，执行上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的图像处理方法。
第九方面，本申请的实施例提供了一种电子后视镜系统，包括：一个或多个摄像头；与所述一个或多个摄像头对应的显示设备；电子后视镜控制单元，用于执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的图像处理方法。
第十方面，本申请的实施例提供了一种车辆，包括一个或多个摄像头；与所述一个或多个摄像头对应的显示设备；电子后视镜控制单元，用于执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的图像处理方法；域控制器DC，用于执行上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的图像处理方法。
第十一方面，本申请的实施例提供了一种车辆，包括如上述第九方面中的电子后视镜系统；域控制器DC，用于执行上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的图像处理方法。
本申请的这些和其他方面在以下(多个)实施例的描述中会更加简明易懂。
附图说明
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本申请的示例性实施例、特征和方面，并且用于解释本申请的原理。
图1示出一种可能的智能驾驶域控制器和电子后视镜共享摄像头的部署方式。
图2示出根据本申请一实施例的系统架构的示意图。
图3示出根据本申请一实施例的图像处理方法的流程图。
图4示出根据本申请一实施例的第一图像数据的传输方式的示意图。
图5示出根据本申请一实施例的图像处理方法的流程图。
图6示出根据本申请一实施例的第二图像数据的一种传输方式的示意图。
图7示出根据本申请一实施例的图像处理方法的流程图。
图8示出根据本申请一实施例的图像处理装置的结构图。
图9示出根据本申请一实施例的图像处理装置的结构图。
图10示出根据本申请一实施例的电子设备100的结构图。
具体实施方式
以下将参考附图详细说明本申请的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
另外，为了更好的说明本申请，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本申请同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本申请的主旨。
随着技术的发展，车辆往往在不同位置分别设置摄像头，用来对车辆周边的影像进行采集，智能驾驶域控制器从包括摄像头在内的传感器获取数据后进行融合处理，并根据融合处理后的数据进行车辆控制。电子后视镜安装在车上后，接入电子后视镜的摄像头和接入智能驾驶域控制器的摄像头的部分位置可能存在重合，需要解决智能驾驶域控制器和电子后视镜的在相应位置的摄像头进行共享的问题。图1示出一种可能的智能驾驶域控制器和电子后视镜共享摄像头的部署方式。参见图1，在该种部署方式下，摄像头会将采集到的图像数据发送给智能驾驶域控制器，智能驾驶域控制器可以对图像数据和获取到的其他传感器采集的数据进行融合处理，以进行车辆控制，实现智能驾驶的功能。该图像数据还会由智能驾驶域控制器发送给电子后视镜ECU，电子后视镜ECU获取图像数据后对数据进行处理发送到对应的显示屏上进行显示，以实现电子后视镜功能。
在这种方式下，在智能驾驶域控制器失效时，电子后视镜ECU无法获取到摄像头采集的图像数据，从而无法实现电子后视镜功能，因此也会失效，无法保证安全需求。且这种情况下，车辆上电后，电子后视镜需要等智能驾驶域控制器启动完成后，才能正常使用，因此启动慢、时延高，影响用户体验。
为了解决上述技术问题，本申请又提供了一种图像处理方法，本申请实施例的图像处理方法能够实现由电子后视镜控制单元从一个或多个摄像头获取该一个或多个摄像头采集的第一图像数据，由电子后视镜控制单元对第一图像数据进行处理得到处理后的图像数据，并将处理后的图像数据输出到电子后视镜控制单元对应的显示设备上，以实现电子后视镜的功能。该电子后视镜控制单元还可以向智能驾驶域控制器(domain controller，DC)发送该第一图像数据，由域控制器DC接收第一图像数据，以实现其他智能驾驶的功能。根据本申请实施例，摄像头可以直接接入电子后视镜控制单元实现电子后视镜的功能，而无需依赖于域控制器，使得域控制器失效时，电子后视镜功能也可以正常实现，保证了智能驾驶的安全需求，且这种情况下电子后视镜启动快、时延小，提升了用户的体验。同时，通过将第一图像数据发送给域控制器，还可以实现电子后视镜和域控制器共享摄像头采集的图像数据，节约了成本和摄像头的空间部署。
图2示出根据本申请一实施例的系统架构的示意图。如图2所示，本申请实施例的电子后视镜系统可部署于车辆上，可以包括电子后视镜控制单元101、一个或多个摄像头、一个或多个显示设备中的一种或多种。例如，该电子后视镜系统可以仅包括电子后视镜控制单元 101，或包括电子后视镜控制单元101和一个或多个显示设备，或包括电子后视镜控制单元101和一个或多个摄像头，或包括电子后视镜控制单元101、一个或多个摄像头和一个或多个显示设备，本申请对此不作限制。其中，该一个或多个摄像头可包括摄像头111-113，摄像头111-113中的部分或全部可以是专用于实现电子后视镜功能的摄像头，摄像头111-113中的部分或全部也可以是传感器103中的一部分，除实现电子后视镜功能之外，还可用于提供图像数据给域控制器以进行车辆控制实现智能驾驶功能，本申请对此不作限制。该一个或多个显示设备可包括显示设备121-123,该显示设备121-123中的部分或全部可以是专用于实现电子后视镜功能的显示设备，显示设备121-123中的部分或全部也可以是，除实现电子后视镜功能之外，还用于实现其他智能驾驶功能的显示设备，本申请对此不作限制。其中，摄像头111-113可以部署于车辆外部，与电子后视镜控制单元101相连接，用于对车辆后方进行拍摄，得到第一图像数据并发送给电子后视镜控制单元101。电子后视镜控制单元101可专用于结合摄像头和显示设备实现电子后视镜功能，可以是单独部署在ECU或CDC上，也可以和其他车载的域控制器集成部署，可用于接收摄像头111-113采集的第一图像数据，对第一图像数据进行处理得到处理后的图像数据，并发送给显示设备121-123进行显示，还可用于将第一图像数据发送给车辆上部署的域控制器102。域控制器102可以与电子后视镜控制单元101相连接，用于接收电子后视镜控制单元101发送的第一图像数据。该域控制器102可以是实现智能驾驶相关功能所用的域控制器，如车载计算设备。显示设备121-123可以是屏幕、投影等，可以部署于车辆内部，可以与电子后视镜控制单元101相连接，用于接收电子后视镜控制单元101发送的处理后的图像数据进行显示。
在一种可能的实现方式中，由于车辆上还部署了其他传感器，如图所示，传感器103，该传感器103可与域控制器102相连接。传感器103可以包括以下一种或多种：车载雷达(如毫米波雷达、激光雷达、超声波雷达等)、雨量传感器、摄像头、车姿传感器(如陀螺仪)、惯性测量单元(inertial measurement unit，IMU)、全球导航卫星系统(global navigation satellite system，GNSS)等。该摄像头可以是除摄像头111-113以外的摄像头，也可以是摄像头111-113中的部分或全部的摄像头。本申请实施例中，可以利用传感器103实现电子后视镜的功能增强，例如在电子后视镜控制单元101将第一图像数据发送给域控制器102后，域控制器102可以根据该第一图像数据和传感器103采集的传感数据，确定新的图像数据，以实现更好的电子后视镜功能。
在一种可能的实现方式中，本申请的图像处理方法可用于智能驾驶的场景中。例如在自动驾驶的场景中，若域控制器102失效，驾驶人员可以进行接管车辆控制，此时电子后视镜控制单元101也可以正常工作，实现电子后视镜的功能，即驾驶人员可以根据电子后视镜指示的车辆周围情况进行安全驾驶。需要说明的是，本申请的图像处理方法也可以用于其他车辆驾驶的场景中，例如在非智能驾驶的场景中用于辅助驾驶人员进行驾驶，本申请对此不作限制。
以下通过图3-图7，在图2示出的系统架构的基础上，对本申请实施例的图像处理方法进行详细的介绍。
图3示出根据本申请一实施例的图像处理方法的流程图。如图3所示，该方法包括：
步骤S201，电子后视镜控制单元从一个或多个摄像头获取所述一个或多个摄像头采集的第一图像数据。
其中，一个或多个摄像头可以包括用于对车辆左侧后方进行拍摄的第一摄像头(如上述摄像头111)、用于对车辆右侧后方进行拍摄的第二摄像头(如上述摄像头112)和用于对车辆正后方进行拍摄的第三摄像头(如上述摄像头113)。第一图像数据可以包括摄像头111-113分别采集的车辆左侧后方、右侧后方和正后方的图像数据。摄像头也可以仅包括上述中的部分摄像头或者是包括比上述更多的摄像头，本申请对此不作限制。
其中，电子后视镜控制单元可以包括解串器和处理单元。该处理单元可以是片上系统(system on chip，SoC)，该解串器可以与一个或多个摄像头(如上述摄像头111-113)连接，由解串器获取摄像头采集的第一图像数据，并将第一图像数据经过解串器发送给处理单元，由处理单元执行步骤S204。
在一种可能的实现方式中，上述一个或多个摄像头可以通过低压差分信号(low voltage differential signaling，LVDS)向解串器发送第一图像数据。
步骤S202，电子后视镜控制单元向域控制器发送所述第一图像数据。
其中，为了使得电子后视镜控制单元可以向域控制器发送第一图像数据，以实现智能驾驶，且为了满足智能驾驶的功能安全要求，电子后视镜控制单元的汽车安全完整性等级(automotive safety integration level，ASIL)可以为ASIL B或者更高级别。
其中，电子后视镜控制单元可以通过低压差分信号LVDS接口向所述域控制器发送所述第一图像数据。参见图4，图4示出根据本申请一实施例的第一图像数据的传输方式的示意图。如图4所示，域控制器可以包括解串器和处理单元，该处理单元可以是系统级芯片SoC(例如是图中的SoC2)。
在一种可能的实现方式中，步骤S202中，电子后视镜控制单元可以通过解串器向所述域控制器发送所述第一图像数据。其中，参见图4(a)和图4(b)，分别示出了电子后视镜控制单元通过解串器向域控制器发送第一图像数据的两种方式。
在第一种方式中，如图4(a)所示，电子后视镜控制单元的解串器在接收到摄像头发送的为并行数据的第一图像数据后，可以不将第一图像数据由并行数据转换为串行数据，并通过LVDS接口向域控制器的解串器发送所述第一图像数据，由域控制器的解串器对数据进行处理，将该第一图像数据由并行数据转换为串行数据，并通过移动行业处理器接口(mobile industry processor interface，MIPI)向SoC2发送处理后的图像数据，使得后续域控制器的处理单元可以对该图像数据进行处理以实现相关智能驾驶功能。
在第二种方式中，如图4(b)所示，电子后视镜控制单元还可以包括加串器。电子后视镜控制单元的解串器可以对第一图像数据进行处理，将该第一图像数据由并行数据转换为串行数据，并通过MIPI发送给加串器，加串器可以将该第一图像数据由串行数据转换为并行数据，并通过LVDS接口向域控制器的解串器发送该第一图像数据，域控制器的解串器可以对数据进行处理，该第一图像数据由并行数据转换为串行数据，并通过移动行业处理器接口(mobile industry processor interface，MIPI)向SoC2发送处理后的图像数据，使得后续域控制器的处理单元可以对该图像数据进行处理以实现相关智能驾驶功能。
在一种可能的实现方式中，步骤S202中，电子后视镜控制单元可以通过电子后视镜控制单元的处理单元向所述域控制器发送所述第一图像数据。其中，参见图4(c)，其示出了电子后视镜控制单元通过处理单元向域控制器发送第一图像数据的一种方式。电子后视镜控制单元的处理单元可以是系统级芯片SoC(例如是图中的SoC1)
如图4(c)所示，电子后视镜控制单元还可以包括加串器。SoC1可以通过MIPI接收经过解串器处理并发送的为串行数据的第一图像数据，并通过MIPI发送给加串器，加串器可以将该第一图像数据由串行数据转换为并行数据，并通过LVDS接口向域控制器的解串器发送该第一图像数据，域控制器的解串器可以对数据进行处理，该第一图像数据由并行数据转换为串行数据，并通过MIPI向SoC2发送处理后的图像数据，使得后续域控制器的处理单元可以对该图像数据进行处理以实现相关智能驾驶功能。
步骤S203，域控制器接收电子后视镜控制单元发送的第一图像数据。
其中，域控制器可以通过低压差分信号LVDS接口接收电子后视镜控制单元发送的所述第一图像数据。
在一种可能的实现方式中，步骤S203中，域控制器可以接收电子后视镜控制单元的解串器发送的所述第一图像数据，域控制器还可以接收电子后视镜控制单元的处理单元发送的所述第一图像数据。上述过程与步骤S202中的相对应，可参见步骤S202中的相关叙述。
步骤S204，电子后视镜控制单元对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
其中，可以由电子后视镜控制单元的处理单元执行步骤S204。
例如，处理单元可以对第一图像数据的颜色格式进行转换，如将YUV格式转换为RGB格式。
其中，电子后视镜控制单元还可以包括加串器，处理单元可以将处理后的图像数据通过MIPI发送给加串器进行处理，将图像数据由串行数据转换为并行数据，并通过LVDS接口发送到对应的显示设备上进行显示。
其中，显示设备可以是专用于实现电子后视镜功能的显示设备，也可以是同时用于实现电子后视镜功能以及其他智能驾驶的功能的显示设备，例如是中控台的显示屏，还可以用于实现全球定位系统(global positioning system，GPS)导航等其他功能，本申请对此不作限制。
在一种可能的实现方式中，该显示设备可以包括：与第一摄像头对应的第一显示设备(如上述显示设备121)，可以设置于车内左前侧，用于显示第一摄像头拍摄的车辆左侧后方的电子后视镜画面；与第二摄像头对应的第二显示设备(如上述显示设备122)，可以设置于车内右前侧，用于显示第二摄像头拍摄的车辆右侧后方的电子后视镜画面，以及与第三摄像头对应的第三显示设备(如上述显示设备123)，可以设置于车内中控上方，用于显示第三摄像头拍摄的车辆正后方的电子后视镜画面。显示设备也可以仅包括上述中的部分显示设备或者是包括比上述更多的显示设备，本申请对此不作限制。
根据本申请实施例，通过电子后视镜控制单元获取摄像头采集的图像数据，并将处理后的图像数据输出到显示设备上，使得摄像头可以直接接入电子后视镜控制单元以实现电子后视镜的功能，无需依赖于域控制器，在域控制器失效时，电子后视镜功能也可以正常实现，保证了智能驾驶的安全需求，且这种情况下电子后视镜启动快、时延小，提升了用户的体验。通过电子后视镜控制单元将第一图像数据发送给域控制器，还可以实现电子后视镜和域控制器共享摄像头采集的图像数据，节约了成本和空间部署。
在一种可能的实现方式中，在上述流程的基础上，域控制器还可以利用传感数据对第一图像数据进行处理，以实现电子后视镜的功能增强，进一步提升行驶过程中的安全性和舒适 性。实现电子后视镜功能增强的两种方式可参见下述图5和图6。
图5示出根据本申请一实施例的图像处理方法的流程图。如图5所示，该方法还包括：
步骤S401，域控制器获取一个或多个传感器采集的传感数据。
其中，传感数据可以用于实现智能驾驶的相关功能，例如可以是车载雷达采集的雷达数据、摄像头(可以包括摄像头111-113中的部分或全部摄像头，或者是除摄像头111-113以外的其他摄像头，如360度环视摄像头等)采集的图像数据等等，本申请对此不作限制。
步骤S402，域控制器根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定第二图像数据。
例如，传感数据可以包括传感器中的摄像头采集的图像数据，该图像数据中可以包括第一图像数据中被遮挡部分(即第一图像数据中的视野盲区，例如车辆前挡风玻璃两侧的立柱遮挡的部分)的图像数据，还可以包括第一图像数据中未拍摄到的其他部分，可以根据该图像数据，对第一图像数据进行补充，确定第二图像数据，该第二图像数据可以是比第一图像数据的视野范围更大的图像数据。其中，可以由域控制器的处理单元确定第二图像数据。
在一种可能的实现方式中，所述第二图像数据的视野范围可以包括车辆周围的360度全景环境。从而，使得行驶时的视野更加宽阔，行驶时更加安全舒适。
在一种可能的实现方式中，所述第二图像数据的视野范围可以与车辆行驶场景对应。
例如，域控制器可以通过传感器中车姿传感器(如陀螺仪)采集的传感数据，判断当前车辆的行驶状态，如直行、倒车、左转、右转、变道等场景，并根据不同的场景，确定不同的第二图像数据的视野范围(如包括不同方位、角度等)。例如，在当前车辆的行驶状态为直行的情况下，第二图像数据可以是车辆左侧和右侧的图像数据(包括前挡风玻璃的两侧立柱遮挡的部分)；在当前车辆的行驶状态为向左变道的情况下，第二图像数据可以是第一图像数据中、车辆左侧和后方的图像数据。上述第二图像数据可以是根据传感器中的摄像头采集的图像数据对第一图像数据中被遮挡的部分进行补充后确定。其中，可以由域控制器中的处理单元来确定第二图像数据。
由此，可以实现图像信息更加精细化，行驶时体验更佳。
步骤S403，域控制器向电子后视镜控制单元发送所述第二图像数据。
其中，在一种可能的实现方式中，域控制器向电子后视镜控制单元发送第二图像数据时所用的接口可以参见图4中，传输第一图像数据时所用的接口，仅仅是域控制器向电子后视镜控制单元发送第二图像数据时的传输方向与图4中发送第一图像数据时的传输方向相反，在此不再赘述。
在一种可能的实现方式中，域控制器还可以通过控制器局域网(controller area network,CAN)或以太网(ethernet，ETH)接口向电子后视镜控制单元发送第二图像数据。
图6示出根据本申请一实施例的第二图像数据的一种传输方式的示意图。如图6所示，可以由域控制器的处理单元(如图中Soc2)通过CAN或ETH接口向电子后视镜控制单元的处理单元(如图中SoC1)发送第二图像数据。
由此，可以使得发送第二图像数据时的传输效率更高。
步骤S404，电子后视镜控制单元接收所述域控制器发送的第二图像数据。
在一种可能的实现方式中，电子后视镜控制单元接收域控制器可以通过控制器局域网CAN接口或以太网ETH接口发送的所述第二图像数据。该过程可以参见上述图6，在此不再赘述。
步骤S405，电子后视镜控制单元对所述第二图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述显示设备上。
其中，可以由电子后视镜控制单元的处理单元执行步骤S405，电子后视镜控制单元的处理单元对第二图像数据进行处理的方式可参照步骤S204中的对第一图像数据进行处理的方式，例如是对第二图像数据的颜色格式进行转换。
例如，若第二图像数据的视野范围是车辆周围的360度全景环境，可以在全部显示设备上分屏展示该360度全景环境，例如，若有三个显示设备，可以在每个设备上显示对第二图像数据进行处理后每120度的车辆周围的环境。
例如，若在不同的车辆行驶场景下，第二图像数据的视野范围不同，可以是在对应的显示设备上显示相应的图像。例如，若有三个显示设备，则域控制器发送的第二图像数据可以包括车辆左侧、右侧和正后方的图像数据，分别对应于车内的左侧、右侧和中控上方的三个显示设备。在域控制器确定当前车辆的行驶状态为直行的情况下，域控制器向电子后视镜控制单元发送的第二图像数据可以包括车辆左侧和右侧的图像数据，对应于车辆正后方的图像数据可以为空，电子后视镜控制单元在接收到该第二图像数据后，可以在车内左侧和右侧的显示设备上分别显示对第二图像数据处理后，对应车辆左侧和右侧的图像数据，而不在车辆中控上方的显示设备上显示为空的图像数据。
需要说明的是，显示设备对图像数据进行显示方式还可以是其他方式，本申请对此不作显示。
根据本申请实施例，通过电子后视镜控制单元将第一图像数据发送给域控制器进行处理，得到第二图像数据，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
图7示出根据本申请一实施例的图像处理方法的流程图。如图7所示，该方法还包括：
步骤S601，域控制器获取一个或多个传感器采集的传感数据。
该过程可参见步骤S401中的相关叙述。
步骤S602，域控制器根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定指示信息。
其中，指示信息可以用于指示车辆周围360度的状况。
例如，传感数据可以包括车载雷达采集的数据，该数据例如可以指示车辆距离相关障碍物的距离，域控制器可以通过该车载雷达(例如是激光雷达)采集的数据，判断车辆周围是否存在距离过近(可以在距离小于预设阈值时确定为距离过近)的障碍物，以及确定该障碍物的位置，该位置可以是障碍物与车辆的相对位置，在确定了障碍物的位置后，还可以在根据该障碍物的位置在第一图像数据中进行定位，以确定该障碍物的类型(例如为其他车辆、行人等)等，从而确定指示信息。在一种可能的实现方式中，域控制器还可以根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，参照步骤S402中的方法确定第二图像数据，在确定了障碍物的位置后，还可以在根据该障碍物的位置在第二图像数据中进行定位，以确定该障碍物的类型，从而确定指示信息。该指示信息可以包括指示车辆周围距离过近的障碍物的位置以及该障碍物的类型等的信息，例如是在第一图像数据或第二图像数据的上指示了对应障碍物位置信息的图像数据、指示障碍物与车辆之间的距离信息等等，本申请对此不作限制。其中，可以由域控制器中的处理单元来确定指示信息。
步骤S603，域控制器向所述电子后视镜控制单元发送所述指示信息。
其中，域控制器向电子后视镜控制单元发送指示信息的方式可以参照步骤S403中，域控制器向电子后视镜控制单元发送第二图像数据的方式，在此不在赘述。
步骤S604，电子后视镜控制单元接收所述域控制器发送的指示信息。
其中，电子后视镜控制单元接收指示信息的方式可以参照步骤S404中，电子后视镜控制单元接收第二图像数据的方式，在此不在赘述。
步骤S605，电子后视镜控制单元根据所述指示信息输出对应的显示信息到所述显示设备上。
其中，可以由电子后视镜控制单元的处理单元执行步骤S605。
显示信息可以以文字、图像、视频等形式在显示设备上进行显示，本申请对此不作限制。
例如，显示信息可以例如可以是障碍物的位置、类型等。例如，若该障碍物为车辆左侧的行人，显示信息可以包括车辆左侧的图像，该图像中可以对为障碍物的行人进行了高亮标记，还可以包括障碍物距离车辆的距离的文字。则输出到显示设备后，可以在车辆内部左侧的显示设备上，显示车辆左侧的画面图像，该图像中为障碍物的行人为高亮，并以文字形式显示该行人当前距车辆的距离。
根据本申请实施例，通过电子后视镜控制单元将第一图像数据发送给域控制器进行处理，得到指示信息，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
图8示出根据本申请一实施例的图像处理装置的结构图。该装置用于电子后视镜控制单元，如图8所示，该装置包括：
第一获取模块701，用于从一个或多个摄像头获取所述一个或多个摄像头采集的第一图像数据；
第一发送模块702，用于向域控制器DC发送所述第一图像数据；
第一处理输出模块703，用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
根据本申请实施例，通过电子后视镜控制单元获取摄像头采集的图像数据，并将处理后的图像数据输出到显示设备上，使得摄像头可以直接接入电子后视镜控制单元以实现电子后视镜的功能，无需依赖于域控制器，在域控制器失效时，电子后视镜功能也可以正常实现，保证了智能驾驶的安全需求，且这种情况下电子后视镜启动快、时延小，提升了用户的体验。同时，通过电子后视镜控制单元将第一图像数据发送给域控制器，还可以实现电子后视镜和域控制器共享摄像头采集的图像数据，节约了成本和空间部署。
在一种可能的实现方式中，该电子后视镜控制单元包括解串器和处理单元，所述解串器用于和所述一个或多个摄像头连接，获取所述第一图像数据，并将所述第一图像数据发送至所述处理单元；该处理单元用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
由此，可以独立的实现电子后视镜功能。
在一种可能的实现方式中，该装置还包括：第一接收模块，用于接收所述域控制器发送的第二图像数据，所述第二图像数据为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；第二处理输出模块，用于对所述第二图像数据进行处理 得到处理后的图像数据，并将所述处理后的图像数据输出到所述显示设备上。
根据本申请实施例，通过电子后视镜控制单元将第一图像数据发送给域控制器进行处理，得到第二图像数据，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
在一种可能的实现方式中，第一接收模块，用于：接收所述域控制器通过控制器局域网CAN接口或以太网ETH接口发送的所述第二图像数据。
由此，可以使得电子后视镜控制单元接收第二图像数据时的传输效率更高。
在一种可能的实现方式中，该第二图像数据的视野范围与车辆行驶场景对应。
由此，可以使得图像信息更加精细化，行驶时体验更佳。
在一种可能的实现方式中，该第二图像数据的视野范围包括车辆周围的360度全景环境。
由此，可以使得图像的视野范围更大，行驶时体验更佳。
在一种可能的实现方式中，该装置还包括：第二接收模块，用于接收所述域控制器发送的指示信息，所述指示信息为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；第三处理输出模块，用于根据所述指示信息输出对应的显示信息到所述显示设备上。
根据本申请实施例，通过电子后视镜控制单元将第一图像数据发送给域控制器进行处理，得到指示信息，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
在一种可能的实现方式中，第一发送模块，用于：所述解串器向所述域控制器发送所述第一图像数据。
由此，可以实现一种电子后视镜控制单元向域控制器发送第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
在一种可能的实现方式中，第一发送模块，用于：所述处理单元向所述域控制器发送所述第一图像数据。
由此，可以实现另一种电子后视镜控制单元向域控制器发送第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
在一种可能的实现方式中，第一发送模块，用于：通过低压差分信号LVDS接口向所述域控制器发送所述第一图像数据。
由此，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
在一种可能的实现方式中，所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
从而，通过利用多个摄像头和显示设备，可以更好地实现电子后视镜功能，提升用户的体验。
图9示出根据本申请一实施例的图像处理装置的结构图。该装置用于域控制器DC，如图 9所示，该装置包括：
第三接收模块801，用于接收电子后视镜控制单元发送的第一图像数据，所述第一图像数据为所述电子后视镜控制单元从一个或多个摄像头获取的、所述一个或多个摄像头采集的，所述第一图像数据用于被所述电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述电子后视镜控制单元对应的显示设备上。
根据本申请实施例，通过接收第一图像数据，该第一图像数据为电子后视镜控制单元获取的摄像头采集的图像数据，且该图像数据用于被处理并被输出到显示设备上，使得摄像头可以直接接入电子后视镜控制单元以实现电子后视镜的功能，无需依赖于域控制器，在域控制器失效时，电子后视镜功能也可以正常实现，保证了智能驾驶的安全需求，且这种情况下电子后视镜启动快、时延小，提升了用户的体验。同时，通过接收电子后视镜控制单元发送的第一图像数据，还可以实现与电子后视镜共享摄像头采集的图像数据，节约了成本和空间部署。
在一种可能的实现方式中，该装置还包括：第二获取模块，用于获取一个或多个传感器采集的传感数据；第一确定模块，用于根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定第二图像数据；第二发送模块，用于向所述电子后视镜控制单元发送所述第二图像数据，所述第二图像数据用于被电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述显示设备上。
根据本申请实施例，通过域控制器获取传感数据，并利用第一图像数据，和/或，传感数据，确定第二图像数据，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
在一种可能的实现方式中，第二发送模块，用于：通过控制器局域网CAN接口或以太网ETH接口向所述电子后视镜控制单元发送所述第二图像数据。
由此，可以使得域控制器发送第二图像数据时的传输效率更高。
在一种可能的实现方式中，该第二图像数据的视野范围与车辆行驶场景对应。
由此，可以使得图像信息更加精细化，行驶时体验更佳。
在一种可能的实现方式中，该第二图像数据的视野范围包括车辆周围的360度全景环境。
由此，可以使得图像的视野范围更大，行驶时体验更佳。
在一种可能的实现方式中，该装置还包括：第三获取模块，用于获取一个或多个传感器采集的传感数据；第二确定模块，用于根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定指示信息；第三发送模块，用于向所述电子后视镜控制单元发送所述指示信息，所述指示信息用于所述电子后视镜控制单元根据所述指示信息输出对应的显示信息到所述显示设备上。
根据本申请实施例，通过域控制器获取传感数据，并利用第一图像数据，和/或，传感数据，确定指示信息，可以使得域控制器利用其计算能力进行计算，以增强电子后视镜的功能，进一步提高了行驶过程中的安全性和舒适性。
在一种可能的实现方式中，所述电子后视镜控制单元包括解串器，第三接收模块，用于：接收所述解串器发送的所述第一图像数据。
由此，可以实现一种域控制器接收第一图像数据的方式，使得域控制器可以利用其计算 能力进行计算，以增强电子后视镜的功能，提升用户的体验。
在一种可能的实现方式中，所述电子后视镜控制单元包括处理单元，第三接收模块，用于：接收所述处理单元发送的所述第一图像数据。
由此，可以实现另一种域控制器接收第一图像数据的方式，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
在一种可能的实现方式中，第三接收模块，用于：接收所述电子后视镜控制单元通过低压差分信号LVDS接口发送的所述第一图像数据。
由此，使得域控制器可以利用其计算能力进行计算，以增强电子后视镜的功能，提升用户的体验。
在一种可能的实现方式中，所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
从而，通过利用多个摄像头和显示设备，可以更好地实现电子后视镜功能，提升用户的体验。
图10示出根据本申请一实施例的电子设备100的结构图。如图10所示，该电子设备100可以是上述电子后视镜控制单元101，或者是上述域控制器102，执行上述图2-图7中任一项所示出的图像处理方法中电子后视镜控制单元或域控制器的功能。该电子设备100包括至少一个处理器1801，至少一个存储器1802、至少一个通信接口1803。此外，该电子设备还可以包括天线等通用部件，在此不再详述。
下面结合图10对电子设备100的各个构成部件进行具体的介绍。
处理器1801可以是通用中央处理器(CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制以上方案程序执行的集成电路。处理器1801可以包括一个或多个处理单元，例如：处理器110可以包括应用处理器(application processor，AP)，调制解调处理器，图形处理器(graphics processing unit，GPU)，图像信号处理器(image signal processor，ISP)，控制器，视频编解码器，数字信号处理器(digital signal processor，DSP)，基带处理器，和/或神经网络处理器(neural-network processing unit，NPU)等。其中，不同的处理单元可以是独立的器件，也可以集成在一个或多个处理器中。
通信接口1803，用于与其他电子设备或通信网络通信，如以太网，无线接入网(RAN)，核心网，无线局域网(Wireless Local Area Networks，WLAN)等。例如，参考图2，电子设备100为电子后视镜控制单元101，通信接口1803可以用于与域控制器102通信。又例如，数电子设备100为域控制器102，通信接口1803可以用于与电子后视镜控制单元101通信。
存储器1802可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(ElectricallyErasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory， CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
其中，所述存储器1802用于存储执行以上方案的应用程序代码，并由处理器1801来控制执行。所述处理器1801用于执行所述存储器1802中存储的应用程序代码。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
本申请的实施例提供了一种图像处理装置，包括：处理器以及用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令时实现上述方法。
本申请的实施例提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。
本申请的实施例提供了一种终端设备，该终端设备可以执行上述方法。
本申请的实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备的处理器中运行时，所述电子设备中的处理器执行上述方法。
本申请的实施例提供了一种电子后视镜系统，包括：一个或多个摄像头；与所述一个或多个摄像头对应的显示设备；以及电子后视镜控制单元，电子后视镜控制单元可以用于执行上述相关的方法。
本申请的实施例提供了一种车辆，包括一个或多个摄像头；与所述一个或多个摄像头对应的显示设备；电子后视镜控制单元，可以用于执行上述相关的方法；域控制器DC，可以用于执行上述相关的方法。
本申请的实施例提供了一种车辆，包括：上述的电子后视镜系统；以及域控制器DC，域控制器DC可以用于执行上述相关的方法。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可擦式可编程只读存储器(Electrically Programmable Read-Only-Memory，EPROM或闪存)、静态随机存取存储器(Static Random-Access Memory，SRAM)、便携式压缩盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、数字多功能盘(Digital Video Disc，DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。
这里所描述的计算机可读程序指令或代码可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本申请操作的计算机程序指令可以是汇编指令、指令集架构(Instruction Set Architecture，ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或可编程逻辑阵列(Programmable Logic Array，PLA)，该电子电路可以执行计算机可读程序指令，从而实现本申请的各个方面。
这里参照根据本申请实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本申请的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本申请的多个实施例的装置、系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。
也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行相应的功能或动作的硬件(例如电路或ASIC(Application Specific Integrated Circuit，专用集成电路))来实现，或者可以用硬件和软件的组合，如固件等来实现。
尽管在此结合各实施例对本发明进行了描述，然而，在实施所要求保护的本发明过程中，本领域技术人员通过查看所述附图、公开内容、以及所附权利要求书，可理解并实现所述公开实施例的其它变化。在权利要求中，“包括”(comprising)一词不排除其他组成部分或步 骤，“一”或“一个”不排除多个的情况。单个处理器或其它单元可以实现权利要求中列举的若干项功能。相互不同的从属权利要求中记载了某些措施，但这并不表示这些措施不能组合起来产生良好的效果。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (29)

  1. 一种图像处理方法，其特征在于，所述方法用于电子后视镜控制单元，所述方法包括：
    从一个或多个摄像头获取所述一个或多个摄像头采集的第一图像数据；
    向域控制器DC发送所述第一图像数据；
    对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收所述域控制器发送的第二图像数据，所述第二图像数据为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；
    对所述第二图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述显示设备上。
  3. 根据权利要求2所述的方法，其特征在于，接收所述域控制器发送的第二图像数据，包括：
    接收所述域控制器通过控制器局域网CAN接口或以太网ETH接口发送的所述第二图像数据。
  4. 根据权利要求2或3所述的方法，其特征在于，所述第二图像数据的视野范围与车辆行驶场景对应。
  5. 根据权利要求2-4任一项所述的方法，其特征在于，所述第二图像数据的视野范围包括车辆周围的360度全景环境。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    接收所述域控制器发送的指示信息，所述指示信息为所述域控制器根据所述第一图像数据，和/或，一个或多个传感器采集的传感数据确定的；
    根据所述指示信息输出对应的显示信息到所述显示设备上。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述电子后视镜控制单元包括解串器和处理单元，所述解串器用于和所述一个或多个摄像头连接，获取所述第一图像数据，并将所述第一图像数据发送至所述处理单元；
    所述处理单元用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
  8. 根据权利要求7所述的方法，其特征在于，所述向域控制器DC发送所述第一图像数据，包括：
    所述解串器向所述域控制器发送所述第一图像数据。
  9. 根据权利要求7任一项所述的方法，其特征在于，所述向域控制器DC发送所述第一图像数据，包括：
    所述处理单元向所述域控制器发送所述第一图像数据。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述向域控制器DC发送所述第一图像数据，包括：
    通过低压差分信号LVDS接口向所述域控制器发送所述第一图像数据。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，
    所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，
    所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
  12. 一种图像处理方法，其特征在于，所述方法用于域控制器DC，所述方法包括：
    接收电子后视镜控制单元发送的第一图像数据，所述第一图像数据为所述电子后视镜控制单元从一个或多个摄像头获取的、所述一个或多个摄像头采集的，所述第一图像数据用于被所述电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述电子后视镜控制单元对应的显示设备上。
  13. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    获取一个或多个传感器采集的传感数据；
    根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定第二图像数据；
    向所述电子后视镜控制单元发送所述第二图像数据，所述第二图像数据用于被所述电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述所述电子后视镜控制单元输出到所述显示设备上。
  14. 根据权利要求13所述的方法，其特征在于，向所述电子后视镜控制单元发送所述第二图像数据，包括：
    通过控制器局域网CAN接口或以太网ETH接口向所述电子后视镜控制单元发送所述第二图像数据。
  15. 根据权利要求13或14所述的方法，其特征在于，所述第二图像数据的视野范围与车辆行驶场景对应。
  16. 根据权利要求13-15任一项所述的方法，其特征在于，所述第二图像数据的视野范围包括车辆周围的360度全景环境。
  17. 根据权利要求12-16任一项所述的方法，其特征在于，所述方法还包括：
    获取一个或多个传感器采集的传感数据；
    根据所述第一图像数据，和/或，所述一个或多个传感器采集的传感数据，确定指示信息；
    向所述电子后视镜控制单元发送所述指示信息，所述指示信息用于所述电子后视镜控制单元根据所述指示信息输出对应的显示信息到所述显示设备上。
  18. 根据权利要求12-17任一项所述的方法，其特征在于，所述电子后视镜控制单元包括解串器，所述接收电子后视镜控制单元发送的第一图像数据，包括：
    接收所述解串器发送的所述第一图像数据。
  19. 根据权利要求12-17任一项所述的方法，其特征在于，所述电子后视镜控制单元包括处理单元，所述接收电子后视镜控制单元发送的第一图像数据，包括：
    接收所述处理单元发送的所述第一图像数据。
  20. 根据权利要求12-19任一项所述的方法，其特征在于，所述接收电子后视镜控制单元发送的第一图像数据，包括：
    接收所述电子后视镜控制单元通过低压差分信号LVDS接口发送的所述第一图像数据。
  21. 根据权利要求12-20任一项所述的方法，其特征在于，
    所述一个或多个摄像头包括用于对车辆左侧后方进行拍摄的第一摄像头、用于对车辆右侧后方进行拍摄的第二摄像头和用于对车辆正后方进行拍摄的第三摄像头，
    所述显示设备包括与第一摄像头对应的第一显示设备，用于显示第一摄像头拍摄的电子后视镜画面；与第二摄像头对应的第二显示设备，用于显示第二摄像头拍摄的电子后视镜画面，以及与第三摄像头对应的第三显示设备，用于显示第三摄像头拍摄的电子后视镜画面。
  22. 一种图像处理装置，其特征在于，所述装置用于电子后视镜控制单元，所述装置包括：
    第一获取模块，用于从一个或多个摄像头获取所述一个或多个摄像头采集的第一图像数 据；
    第一发送模块，用于向域控制器DC发送所述第一图像数据；
    第一处理输出模块，用于对所述第一图像数据进行处理得到处理后的图像数据，并将所述处理后的图像数据输出到所述电子后视镜控制单元对应的显示设备上。
  23. 一种图像处理装置，其特征在于，所述装置用于域控制器DC，所述装置包括：
    第三接收模块，用于接收电子后视镜控制单元发送的第一图像数据，所述第一图像数据为所述电子后视镜控制单元从一个或多个摄像头获取的、所述一个或多个摄像头采集的，所述第一图像数据用于被所述电子后视镜控制单元进行处理得到处理后的图像数据，所述处理后的图像数据用于被所述电子后视镜控制单元输出到所述电子后视镜控制单元对应的显示设备上。
  24. 一种图像处理装置，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为执行所述指令时实现权利要求1-11任意一项所述的方法，或者实现权利要求12-21任意一项所述的方法。
  25. 一种非易失性计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现权利要求1-11中任意一项所述的方法，或者，实现权利要求12-21任意一项所述的方法。
  26. 一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行权利要求1-11中任意一项所述的方法，或者，执行权利要求12-21任意一项所述的方法。
  27. 一种电子后视镜系统，包括：一个或多个摄像头；与所述一个或多个摄像头对应的显示设备；以及电子后视镜控制单元，所述电子后视镜控制单元用于执行根据权利要求1-11中任一项所述的方法。
  28. 一种车辆，其特征在于，包括：
    一个或多个摄像头；
    与所述一个或多个摄像头对应的显示设备；
    电子后视镜控制单元，用于执行根据权利要求1-11中任一项所述的方法；
    域控制器DC，用于执行根据权利要求12-21中任一项所述的方法。
  29. 一种车辆，其特征在于，包括：
    如权利要求27所述的电子后视镜系统；以及
    域控制器DC，用于执行根据权利要求12-21中任一项所述的方法。
PCT/CN2021/138884 2021-12-16 2021-12-16 图像处理方法、装置、存储介质、电子后视镜系统和车辆 WO2023108560A1 (zh)

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